A transfer assist apparatus includes: an arm portion that has a first joint and a second joint a holder portion linked to the arm portion a manipulation handle for manipulating the position and the posture of the holder portion a first drive mechanism that drives the first joint a second drive mechanism that drives the second joint and a control portion that controls the first drive mechanism and the second drive mechanism so that the posture of the holder portion is maintained in a predetermined acceptable range, based on information that is input from the manipulation handle, and angle information regarding the first joint and the second joint.
