PROBLEM TO BE SOLVED: To provide an assistance robot capable of performing a standing motion corresponding to a sitting posture of a care receiver and a physique of the care receiver.SOLUTION: An assistance robot includes: a base； a holding base that can move at least vertically with respect to the base； a holding unit that is provided on the holding base and holds a part of the body of the care receiver； an actuator that performs an operation of the holding unit with respect to the base； a storage unit that stores in advance an operation trajectory of the actuator for moving the holding unit from the seated posture to the standing posture； a vertical operation unit in which a change in the vertical direction position in the seated posture of the holding unit is input so as to be matched with at least one of the physique of the care receiver in the seated state and the seated height； and a control unit that controls the actuator to move the holding unit from the seated posture to the standing posture. The control unit moves the vertical position of the holding unit on the basis of the input operation to the vertical operation unit, and corrects the operation trajectory of the actuator for moving to the standing posture, in accordance with the vertical position of the holding unit after the movement.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2020,JPO&INPIT【課題】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。【解決手段】介助ロボットは、基台と、基台に対して少なくとも上下動可能な保持基部と、保持基部に設けられ、被介助者の体の一部を保持する保持部と、基台に対する保持部の動作を行うアクチュエータと、保持部を着座姿勢から起立姿勢へ移動させるためのアクチュエータの動作軌跡を予め記憶する記憶部と、着座状態の被介助者の体格および着座高さの少なくとも一方に合うように、保持部の着座姿勢における上下方向位置の変更が入力操作される上下動操作部と、アクチュエータを制御し、保持部を着座姿勢から起立姿勢へ移動させる制御部と、を備え、制御部は、上下動操作部への入力操作に基づいて保持部の上下方向位置を移動させ、移動させた後の保持部の上下方向位置に応じて、起立姿勢へ移動させるためのアクチュエータの動作軌跡を補正する。【選択図】図６
