There are people who can't transfer on their own and needs help for the move from a sitting posture to other sitting posture. However, many of them want to transfer without assistants. Therefore, we developed a robot that assists them to transfer on their own. A conventional robot was not able to be used by the people who could not sit up to sitting position from supine position. Therefore, we suggest self transfer assist robot which can assist sitting up movement to realize lifting of the one. In this investigation, we produce body hold part to enable holding of the person of cover assistance at the time of lifting assistance and sitting up assistance experimentally on developing the new machine.
