In this research, we controlled a verification device to lift subjects up from side and front and evaluated the comfort feeling for every position of robot arms. Based on the obtained distribution of subjects' comfort feeling, lifting-up motions were generated from the start position to the most comfortable position by passing very more comfortable position. We lifted subjects up using the generated motion and compared it with other motions. All subjects thought the generated motions are more comfortable than others. Those distributions of comfort feeling and the generation method of robot motion will be helpful for creating and correcting the simulation for automatic lift-up motion generation.