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 ¸1 of the robot joint (joint part 4) exceeds a predetermined allowable angle range R, the angle ¸1 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 ¸1 of the robot joint back within the allowable angle range R and the angle ¸1 of the robot joint reaches a predetermined angle ¸2, torque is generated in the robot joint to keep the angle ¸2 of the robot joint at the predetermined angle ¸1 for a predetermined period of time T.
