The most economical and best method to lift something with minimum effort is to use Pulleys.
You can use a rope and a pulley ( lubricated) and one support to place load ( books in your case) . The pulley can be hanged above the height of shelf. The whole set up should look like this.
the pulley will decrease the effort needed to lift books to a very minimal level. Make sure that you make the pulley as friction-less as possible.
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