The method for controlling the wearable robot according to one aspect of the present invention is attached to a joint part of the user, the robot joint being controlled in such a way that, when an angle θ1 of the robot joint (joint part 4) exceeds a predetermined allowable angle range R, the angle θ1 of the robot joint is made to go back within the allowable angle range R. When the robot joint is controlled to make the angle θ1 of the robot joint back within the allowable angle range R and the angle θ1 of the robot joint reaches a predetermined angle θ2, torque is generated in the robot joint to keep the angle θ2 of the robot joint at the predetermined angle θ1 for a predetermined period of time T.
