Provided is an assistance robot capable of performing a standing motion according to the sitting posture of the person being assisted and the physique of the person being assisted. The assistance robot 10 includes an actuator according to an operation to the base 21, a vertically moving operation unit 15 c that is operated by the person being assisted M <；b>； 1 or the assistant to change the vertical position of the holding unit 13, and the vertically moving operation unit 15 c. The first control unit 17a that controls the control unit 45 to move the holding unit 13 up and down, and the storage unit that previously stores the operation trajectories of the actuators 45, 32a1, and 32b1 for moving the holding unit 13 from the reference seating posture to the reference standing posture. 16 and a correction unit 17b that corrects the movement locus of the actuators 45, 32a1, and 32b1 based on the vertical position of the holding unit 13 moved by the first control unit 17a and the vertical position of the reference seating posture. A second control unit 17c that controls the actuators 45, 32a1, and 32b1 based on the movement locus and moves the holding unit 13 to a predetermined standing posture； Provided.被介助者の着座姿勢及び被介助者の体格に応じた起立動作を行うことができる介助ロボットを提供する。介助ロボット１０は、基台２１と、被介助者Ｍ１又は介助者により保持部１３の上下方向位置の変更を操作される上下動操作部１５ｃと、上下動操作部１５ｃへの操作に応じてアクチュエータ４５を制御し、保持部１３を上下動させる第一制御部１７ａと、保持部１３を基準着座姿勢から基準起立姿勢へ移動させるためのアクチュエータ４５，３２ａ１，３２ｂ１の動作軌跡を予め記憶する記憶部１６と、第一制御部１７ａにより移動された保持部１３の上下方向位置と基準着座姿勢の上下方向位置とに基づいてアクチュエータ４５，３２ａ１，３２ｂ１の動作軌跡を補正する補正部１７ｂと、補正された動作軌跡に基づいてアクチュエータ４５，３２ａ１，３２ｂ１を制御し、保持部１３を所定の起立姿勢へ移動させる第二制御部１７ｃとを備える。
