<p>The use of nursing robots to participate in nursing work is an effective means to solve the contradiction between the growing elderly population and the serious shortage of nursing staff, and robot assisted transfer is an important task in nursing work. In this study, a motion control method of manipulator is proposed, with the aim of helping robots achieve a comfortable and safe process of lifting and hugging people. Based on the characteristics of the human musculoskeletal system, a dynamic model of the human body is first established to analyze the balance of joint torque and contact force between human joints and manipulators, and propose a human tactile force model. Based on the analysis of human posture and joint torque, the constraint conditions for the human joint angle and joint torque of the tactile force model are provided. By solving the human tactile force model, the hug posture parameters of the manipulator can be obtained. Based on these hug parameters, the trajectory of the robotic arm is planned, and the end effector trajectory of the manipulator is optimized for end effector error. Then a motion control method for manipulators based on the optimal human tactile force is proposed, combining the kinematics and dynamics of the manipulator. Finally, a manipulator hug experiment was conducted, and the effectiveness of the proposed manipulator motion control method was verified through a combination of subjective evaluation and qualitative analysis.</p>