The assistance robot (1) is provided on a base (10), a moving member (30, 40, 60) that can move up and down at least relative to the base (10), and a moving member (30, 40, 60). , The holding member (50) holding a part of the body of the person being assisted (M) and the movement of the moving member (30, 40, 60) to control the person being held by the holding member (50) And (M) a control device (80) that performs the standing assistance from the sitting posture to the standing posture and the sitting assistance from the standing posture to the sitting posture. The holding member (50) is provided on the moving member (30, 40, 60) so as to freely tilt between the lower use position and the upper escape position.介助ロボット（１）は、基台（１０）と、基台（１０）に対して少なくとも上下動可能な移動部材（３０，４０，６０）と、移動部材（３０，４０，６０）に設けられ、被介助者（Ｍ）の体の一部を保持する保持部材（５０）と、移動部材（３０，４０，６０）の移動を制御して、保持部材（５０）に保持された被介助者（Ｍ）に対して座位姿勢から立位姿勢への起立補助及び立位姿勢から座位姿勢への着座補助を行う制御装置（８０）と、を備える。そして、保持部材（５０）は、下方の使用位置と上方の逃げ位置との間で自由傾動可能に移動部材（３０，４０，６０）に設けられる。
