There exist handicapped, who can not transfer oneself, for example, from bed to chair, or in the rest room. Many of past transfer assist tools are not equipment which helps the self transfer of handicapped, but the equipment for the reduction of helper's load. We develop a self transfer assist robot that enables self transfer of handicapped without helper. Movements of this robot consist of three basic actions, namely, "stand up", "turn" and "sit down". In this study, the time, which is needed to complete a transfer, is shortened by composing basic actions and the comfortableness of user is improved. In addition, we discuss the operation method, in which a push button is used for manipulation of the robot.
