PROBLEM TO BE SOLVED: To provide an assistance robot capable of alleviating an impact when an object existing below a holding member and a holding member collide with each other. An assisting robot 1 is provided with a base 10, moving members 30, 40, 60 that can move at least up and down with respect to the base 10, and freely rotatable with respect to the moving members 30, 40, 60. It is provided with a holding member 50 that holds a part of the body of the person being assisted M. By moving the holding member 50 up and down by the moving members 30, 40, 60, the person being assisted M held by the holding member 50 is assisted in standing from a sitting posture to a standing posture and from a standing posture to a sitting posture. Assists in sitting. Then, the holding member 50 is restricted from rotating downward with respect to the moving members 30, 40, 60 by the regulating portion, and when an external force from below is applied to the holding member 50, the holding member 50 is separated from the regulating portion and the moving member 30 is separated. , 40, 60 freely rotate upward. [Selection diagram] FIG. 2B【課題】保持部材の下方に存在する物体と保持部材とが突き当たったときの衝撃を緩和できる介助ロボットを提供すること。【解決手段】介助ロボット１は、基台１０と、基台１０に対して少なくとも上下動可能な移動部材３０，４０，６０と、移動部材３０，４０，６０に対して自由回動可能に設けられ、被介助者Ｍの体の一部を保持する保持部材５０と、を備える。移動部材３０，４０，６０によって保持部材５０を上下動させることで、保持部材５０に保持された被介助者Ｍに対して座位姿勢から立位姿勢への起立補助及び立位姿勢から座位姿勢への着座補助を行う。そして、保持部材５０は、規制部によって移動部材３０，４０，６０に対する下方への回動が規制されるとともに、保持部材５０に下方からの外力が加えられると規制部から離間して移動部材３０，４０，６０に対して上方に自由回動する。【選択図】図２Ｂ
