The transfer assistance device includes a front supporting part that supports the torso of the person being assisted a set of sub supporting parts configured to be adjustable in position with respect to the front supporting part a driving unit that propels and drives each of the set of sub supporting parts toward the person being assisted being supported by the front supporting part a force sensor that detects a pressure proportional to propulsion of the sub supporting part by the driving unit and counterforce generated by contact of the sub supporting part with the person being assisted and a computer that controls the driving unit based on the pressure detected by the force sensor so that tightening force on the person being assisted by the sub supporting part approaches prescribed tightening force.
