Sit-to-stand (STS) is considered the most common functional activities in daily life and the basis for other activities. The elderly and patients with lower limb disorders could not complete the STS motion very well due to limb pain and muscle weakness. Physiotherapist find that specific STS transfer strategies can make patients more easily to complete this task. However, few researchers pay attention to the effect of initial foot angle (IFA) on STS motion. Twenty-six healthy subjects were randomly selected to perform STS transfer experiment. The motion characteristic parameters of subjects under 4 different IFAs (nature, 0°, 15°, and 30°) were obtained, including the percentage of duration in each phase, the velocity of joints, rotation angle and angular velocity of joints (shoulder, hip and knee), center of gravity (COG) trajectory. the change of plantar pressure parameters, and dynamic margin of stability. By comparing the motion characteristic parameters obtained under different IFAs and carrying out statistical analysis, the influence of different IFAs on body kinematics and dynamics during STS task was further explored. The kinematic parameters obtained under different IFAs are significantly different. The percentage of duration in each phase of the STS transfer was different with different IFA, the main differences were in phase I and phase II. The phase I of U15 took 24.5% T, while phase I of N, U0 and U30 took about 20% T, and the maximum difference was (U15-U0) 5.4%. The phase II of U15 took the least time, about 30.8% T. When the IFA is nature (N) and 15°(U15), the trajectories of COG are basically in coincidence; when the IFA is 0°(U0) and 30°(U30), the displacement of COG in anterior-posterior direction is larger. The larger the IFA, the smaller the plantar pressure parameter. When the IFA is 15°, the COG is close to the center of limits of stability, which can provide a better stability. This paper summarizes the influence under 4 different experimental conditions of IFAs on STS transfer, so as to provide a starting point and bases for clinicians to develop rehabilitation training protocols and STS motion strategies for patient.