The research presented in this paper aims to design a soft robotic arm which can lift a patient in or out of a bed or a wheelchair on command. The new design can cope with some existing limitations of the Robot for Interactive Body Assistance (RIBA) with a lifting capacity of 61 kgs and a limited degree of freedom. The proposed robotic arm is modelled in the computer-aided modelling (CAD) software, namely, SolidWorks. The results show that the developed robotic arm can lift a person of 82 Kgs which increases 40% in carrying capacity compared to RIBA. The design of the robotic arm has also considered the comfort of the person whom the robot lifts, improving feelings of security and boosting confidence in the process. A special heating arrangement is also incorporated with the layers of the robotic arm. As populations age with reduced numbers of care workers, the proposed soft robotic arm seeks to find a solution for aged care limitations.