The present disclosure provides a method for controlling an exoskeleton robot. The method comprises checking that a first signal is triggered by a first button, checking a tilt angle after the first signal is triggered, setting an action based on the tilt angle, and executing the action to move the exoskeleton robot. The first signal indicates to change the exoskeleton robot from a standing posture to another posture, and the tilt angle is a leaning-forward angle of a waist assembly of the exoskeleton robot relative to a line vertical to ground. The method utilizes the tilt angle to judge the intent of the user, and thus can simplify the controlling buttons to one or two buttons. Further, the controlling method also monitors the tilt angle to choose a suitable action.本揭示內容提供一種控制一外骨骼機器人的方法。所述方法包含檢查一第一信號係經一第一按鈕觸發,於該第一信號經觸發後檢查一傾斜角,基於該傾斜角而設定一動作,以及執行該動作以移動該外骨骼機器人。所述第一信號指示將該外骨骼機器人由一立姿改變為另一姿勢,且該傾斜角為該外骨骼機器人的一腰部組件相對於與地面垂直的一軸線的一前傾角度。所述方法利用該傾斜角來判斷該使用者的意向,並可進而將控制按鈕簡化為一或兩個按鈕。此外,該控制方法亦可監控該傾斜角以選擇一適當動作。