Transfer assistance device and operation method therefor

A transfer assistance device comprising:

• a main supporting part that supports a torso of a person being assisted so that the position of the person can be changed between a sitting position and a standing position;
• a set of sub supporting parts engaged with the main supporting part through a joint part having a linearly extending portion in a manner being adjustable in position with respect to the main supporting part;
• a driving unit that drives each of the set of sub supporting parts in a straight line toward the person being assisted in a state of being supported by the main supporting part in a state where opposed postures of the sub supporting parts are roughly maintained in a manner that movement of the sub supporting part is guided by the portion of the joint part;
• a pressure detection unit that detects a pressure proportional to propulsion principally composed of a rectilinear component of the sub supporting part driven by the driving unit and counterforce generated by contact of the sub supporting part with the person being assisted;
• and a control unit that controls the driving unit based on a detected value of the pressure detected by the pressure detection unit so that tightening force on the person being assisted caused by the sub supporting part approaches prescribed tightening force, wherein the pressure detection unit is mounted on the joint part.