The front holding portion 40 for holding the body of the caregiver 150, and lateral supports 50 and 60 a pair of which is configured to positionally adjustable with respect to the front holding portion 40, ERROR support apparatus 100, the front holding portion a driving unit 92 for propulsion drive the lateral supports 50 and 60 respectively of one set to the 150 side the assistant who is in a state that has been held by the 40, driving force of the side holding section 50 by the driving unit 92, and with respect to the caregiver 150 a force sensor 91 for detecting a pressure corresponding to the reaction force caused by the contact of the lateral supports 50, based on the detection value of the pressure by 91 the force sensor, the clamping force of 150 the caregiver by the lateral supports 50 are given I comprises, a computer 93 for controlling the driving unit 92 so as to approach the clamping force.移乗支援装置100は、被介助者150の胴部を保持する正面保持部40と、正面保持部40に対して位置調整可能に構成された一組の側面保持部50、60と、正面保持部40により保持された状態の被介助者150側へ一組の側面保持部50、60夫々を推進駆動する駆動部92と、駆動部92による側面保持部50の推進力、及び被介助者150に対する側面保持部50の当接により生じる反力に応じた圧力を検出する力センサ91と、力センサ91による圧力の検出値に基づいて、側面保持部50による被介助者150の締付け力が所定の締付け力に近づくように駆動部92を制御するコンピュータ93と、を備える。
