In the present paper, we propose an algorithm for selecting appropriate transfer support equipment based on the physical ability of the user. In addition, we describe the relationship between features of the human body and the physical burdens during standing. Although several care support devices have been developed, assistive robots are not yet popular because users do not know which devices are suitable for their needs or appropriate for their physical abilities. In the present study, we focus on a transfer support device and propose an algorithm for selecting transfer support equipment that will be suitable to the physical ability of the user. We investigated the relationship between standing support equipment and physical burdens during standing, which is one of transfer motions. In an experiment, we calculated and analyzed the knee and ankle joint moments and discussed the relationship between standing support equipment and the knee and ankle joint moments during standing. The results indicated a difference in the relation of standing support equipments appropriate to the user's physical ability. It was found effective to provide a railing to persons having low residual ability in the ankle joints and an up/down seat to persons having low residual ability in the knee joints.