This assistance robot (1) includes: a base (10)； movement members (30, 40, 60) that can move at least up and down relative to the base (10)； a holding member (50) that is provided on the movement members (30, 40, 60) and holds a part of the body of a person to be assisted (M)； and a control device (80) that controls the movements of the movement members (30, 40, 60) to assist standing from a seated position to a standing position and to assist seating from the standing position to the seated position of the person to be assisted (M) who is held by the holding member (50). The holding member (50) is provided on the movement members (30, 40, 60) so as to be tiltable between a lower use position and an upper clearance position.
