The transfer assistance device (100) is provided with: a front supporting part (40) that supports the torso of the person being assisted (150) a set of side supporting parts (50, 60) configured so that the positions thereof are adjustable with respect to the front supporting part (40) a driving unit (92) that propels and drives each of the set of side supporting parts (50, 60) to the person being assisted (150) when the person is supported by the front supporting part (40) a force sensor (91) that detects a pressure proportional to the propulsion of the side supporting part (50) by the driving unit (92) and the counterforce generated by contact of the side supporting part (50) with the person being assisted (150) and a computer (93) that controls the driving unit (92) on the basis of the pressure detected by the force sensor (91) so that the tightening force on the person being assisted (150) due to the side supporting part (50) approaches a prescribed tightening force.
