PROBLEM TO BE SOLVED: To provide a transfer assist device capable of reducing a request torque to an arm part.SOLUTION: A transfer assist device 1 according to one embodiment of the present invention includes: a carriage 2 having a sole holding part 6a for supporting the soles of a care-receiver； an arm part 3 provided on the carriage 2； a holding part 4 provided on the arm part 3 for holding the care-receiver； and a control part 5 for controlling the arm part 3. The control part 5 pulls in the care-receiver seating on a seating object towards a connection part between the carriage 2 and the arm 3 and controls the arm part 3 such that a position of a centroid is moved upward, with the centroid position of the care-receiver disposed on the vicinity of an upper side of a position where the soles of the care-receiver are grounded on the sole support part 6a.SELECTED DRAWING: Figure 1
