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Coordination between the paralyzed leg motion by the robot and the user\u0027s voluntary movement is important to assist the sit-to-stand movement. In this study, we address developing an assist control of sit-to-stand movement based on the motion of the upper extremities. From measurement experiments of sit-to-stand motion, it was found that the beginning of the leg motion can be detected by ground reaction force acting on the foot soles and a walker. Based on the measurement results, we developed a control system of the wearable robot in which the leg movement for standing up is triggered by the ground reaction force acting on the walker and foot soles. 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