PROBLEM TO BE SOLVED: To provide a standing/seating motion support system capable of preventing a care-receiver from feeling discomfort in a case of supporting the motion when the care-receiver stands up from a seating-posture state, without making a traction mechanism perform an unexpected operation for the care-receiver.SOLUTION: A care-receiver 7 is held by a holding mechanism 3, and a traction mechanism 4 connected to the holding mechanism, hauls the holding mechanism so as to travel on a predetermined trajectory K0. When the trajectory is deviated from the prescribed trajectory K0, a control device 11 controls the traction mechanism, on the basis of a position detected by position sensors 43 and 44 and force detected by a force sensor 17, to change the position to a position on the prescribed trajectory (K0) at a later time than a time when the position is detected, such that the holding mechanism can travel on the prescribed trajectory.SELECTED DRAWING: Figure 2【課題】 被介護者が座位姿勢の状態からの起立の際の動作を支援するとき、被介護者が意図しない動作を牽引機構が行うことがなく、被介護者に不快感が生ずることを防止できる、起立又は着座動作支援システムを提供する。【解決手段】 被介護者７を保持機構３で保持し、保持機構と連結して保持機構が所定の軌道Ｋ０を描くように牽引機構４で牽引する。位置センサ４３，４４で検出された位置と力センサ１７で検出された力とに基づいて、所定の軌道Ｋ０からずれているとき、位置検出した時刻より後の時刻の所定の軌道Ｋ０上の位置に変更することにより、保持機構が所定の軌道を描くように牽引機構を制御装置１１で制御する。【選択図】図２
