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This paper presents a patient transfer apparatus between bed and stretcher. This apparatus makes it possible for the nurse to move weak, injured, or paralyzed patient from bed to stretcher, or vice versa, alone. Moreover, the suffering, stress, and uneasy feeling of the patient can be alleviated. This paper describes the specification, mechanical design, control system, and motion control of the apparatus. A special devised mechanism is developed, and a new servo system is used in this control system. The control principle and algorithm of the new servo system are proposed, and the motion-control method and safety function of the apparatus are described. The experimental results and evaluation indicated the effectiveness of this system.