Bürgerspital Basel (BSB) is a health care institution in Switzerland, which provides high standard services for elderly and handicapped residents. Their nurses from the special care unit for residents with increased care needs are daily exposed to physically burdening nursing activities, e.g., bedwheelchair transfer of paralyzed patients, mobilizing in bed and lifting them with own physical strength. This leads to physical strain for the nurses over time [1]. Therefore, BSB started to seek robotic solutions to relieve their nurses from the heavy workload during their shift. Requirements: a) Patients should feel comfortable and treated with care and respect. b) The robotic device should be versatile and easily usable.