A transfer assist apparatus includes an anxiety measurement unit that detects a physical change linked to a sense of anxiety in the care-receiver and measures a degree of anxiety in the care-receiver, and a control unit that control the drive unit correspondingly to a trajectory inputted by the operation unit and performs feedback control so as to reduce the degree of anxiety measured by the anxiety measurement unit. The anxiety measurement unit detects at least one of a heart rate, an amount of perspiration, a breathing rate, an eyeball movement, an electric resistance of skin, and a skin temperature as the physical change linked to a sense of anxiety in the care-receiver. The control unit sets a speed limit of the drive unit correspondingly to the degree of anxiety measured by the anxiety measurement unit and restricts the drive speed of the drive unit not to exceed the speed limit.
