To provide an assist robot for standing-up action which can be miniaturized.

The assist robot 1 for standing-up action includes a robot body 2 which has; a base 20, a shaft part 21 which is stretchable in an up-and-down direction, a table body 220 which is swingable to the vertical direction, and a table 22 having elbow supports 221L, 221R and grip parts 222L, 222R placed on both sides of swing center 210. The assist robot 1 assists the standing-up action of a person to be assisted M in the following mechanism. Elbows of the person to be assisted M are placed on elbow supports 221L, 221R, the table body 220 is swung up until the center of gravity G of the person to be assisted M reaches the shaft part 21 near the rise preparation position, with the grip parts 222L, 222R held by the person to be assisted M, and then the shaft parts 21 are extended in rise preparation positions.