A method for assisting in the control of a collaborative robot is provided, comprising a grasping member capable of holding a part at a grasping point, by an operator acting on control means disposed on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance, corresponding to a plurality of predetermined characteristic movements of the grasping member, comprises at least: a first step of detecting the intention of the operator determining the intention of the operator to execute a predetermined type of assistance from an analysis of haptic data of the operator; and a second step of determining the commands that the robot must execute as a function of the detected intention in order to provide the appropriate assistance.