PROBLEM TO BE SOLVED: To increase the stability of a transferring device when a person to be cared for is transferred.SOLUTION: The transferring device 100 is a transferring device to transfer the person to be cared for. The transferring device 100 computes the position of the center of gravity of a system of mass points including a plurality of mass points corresponding to at least the person to be cared for and the transferring device, and computes the position of the center-of-gravity projection point located in the position where the center of gravity of the system of mass points is vertically projected with respect to a touchdown surface at which the transferring device touches down. A center-of-gravity position computing section 71b computes the position of the center-of-gravity of the system of mass points. A center-of-gravity projection point position computing section 71c computes the positions of the center-of-gravity projection points. The practical use of the positions of the center-of-gravity projection points permits the stability of the transferring device to be increased at the time when the person to be cared for is transferred.COPYRIGHT: (C)2010,JPO&INPIT【課題】被介護者の移乗時の装置の安定性を高めること。【解決手段】移乗装置100は、被介護者を移乗する移乗装置である。移乗装置100は、少なくとも被介護者及び移乗装置に対応する複数の質点を含む質点系の重心の位置を算出し、移乗装置が接地する接地面に対して質点系の重心を鉛直方向に投影した位置にある重心投影点の位置を算出する。重心位置算出部71bは、質点系の重心の位置を算出する。重心投影点位置算出部71cは、重心投影点の位置を算出する。重心投影点の位置を活用することで、被介護者の移乗時の移乗装置の安定性を高めることが可能になる。【選択図】図1
