PROBLEM TO BE SOLVED: To provide a transfer support apparatus that more stably supports the transfer movement of a person to be cared and to provide the control method of the transfer support apparatus.SOLUTION: The transfer support apparatus includes: a holder containing a front surface holding part 11 and a side surface holding part 12 that hold the person to be cared； an arm part 10 that is connected with the holder and performs the lifting or lowering operation of the holder； a human detection switch 14 that detects that the holder holds the person to be cared； an arm axis angle sensor 15 that detects the lifting or lowering operation of the holder by the arm part 10； and an MPU 51 that limits the release of the holding state of the person to be cared by the holder based on the detection results of the human detection switch 14 and the arm axis angle sensor 15.【課題】より安全に被介護者の移乗動作を支援する移乗支援装置および移乗支援装置制御方法を提供すること。【解決手段】本発明のにかかる移乗支援装置は、被介護者を保持する前面保持部１１及び側面保持部１２とを含む保持具と、保持具と接続され、保持具を持ち上げ又は持ち下げ動作を行うアーム部１０と、保持具が被介護者を保持していることを検知する人検知スイッチ１４と、アーム部１０による保持具の持ち上げ又は持ち下げ動作を検知するアーム軸角度センサ１５と、人検知スイッチ１４とアーム軸角度センサ１５との検知結果に基づいて、保持具による被介護者の保持状態の解除を制限するＭＰＵ５１と、を備える。【選択図】図１
