Abstract
There are many people who cannot stand up on them own and need help moving from sitting posture to sitting posture. However many of them want to do it without assistants. Therefore, we developed a robot that assists them to transfer. People assisted by the robot sometime express about their physical burden. Especially, they complain of armpit and abdomen pain. In order to decrease these pains, it is important to find that how the force acts on their body. In this paper, we propose the method of evaluating physical burden. Further more, using a proto type, we demonstrate experimental results, which are compared with analytical ones.
