In aging societies, the burden of nursing care has become heavier and heavier. In order to reduce the burden by the introduction of robot technologies, a new prototype high-functionality nursing-care assistant robot named ROBEAR is developed. It has two human-type arms that are used to lift and move a patient from a bed to a wheelchair or to assist a patient to stand up. For realizing soft movement of the two arms, three kinds of force related sensors are employed on each aim. In the present paper, the outline of ROBEAR is explained, and the results of actual experiments on patient-transfer and standing assistance are reported.
