The assistance robot (1) is provided so as to be movable up and down, back and forth and tiltable with respect to the base (10) and the base (10), and a part of the body of the person being assisted (M1, M2). The holding part (50) to be held and the vertical movement, the back-and-forth movement, and the tilting of the holding part (50) are controlled to change at least the person being assisted (M1, M2) from the sitting position to the standing position. A control device (120) for assisting to stand up, and the control device (120) is positioned at the shoulder of the person being assisted (M1, M2) held by the holding portion (50) when performing the support for standing up At least one of the height of the shoulder position of the person being assisted (M1, M2) held by the holding portion (50) when the standing assistance is completed and the position in the front-rear direction are held in different modes. The raising, back-and-forth movement and tilting of the part (50) are controlled.介助ロボット（１）は、基台（１０）と、基台（１０）に対して上下動可能、前後動可能及び傾動可能に設けられ、被介助者（Ｍ１，Ｍ２）の体の一部を保持する保持部（５０）と、保持部（５０）の上下動、前後動及び傾動をそれぞれ変化させる制御を行うことで、少なくとも被介助者（Ｍ１，Ｍ２）に対して座位姿勢から立位姿勢への起立補助を行う制御装置（１２０）と、を備え、制御装置（１２０）は、起立補助を行うときの保持部（５０）に保持された被介助者（Ｍ１，Ｍ２）の肩の位置の動作軌跡、並びに起立補助が完了したときの保持部（５０）に保持された被介助者（Ｍ１，Ｍ２）の肩の位置の高さ及び前後方向の位置の少なくとも一方が、異なるモードで保持部（５０）の上昇、前後動及び傾動をそれぞれ制御する。
