The present invention provides a wearable robot control device and control method that ensure both user safety and usability. The present invention also provides a wearable robot that ensures both user safety and usability. If measured data (MD) for at least one physical quantity related to the position of a body on which a wearable robot is mounted deviates outside of the acceptable region (AR), a supplementary operation to prevent the body on which the wearable robot is mounted from falling is performed, wherein the acceptable region (AR) is set as a region that allows the measured data (MD) acquired at the position where the body on which the wearable robot is mounted falls.
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