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This paper presents a patient transfer apparatus. Using this apparatus, the nurse can transfer the weak, injured or paralyzed patient from bed to stretcher or from stretcher to bed by oneself and the suffering, stress and uneasy feeling of the patient can be alleviated. This paper describes the basic design and the control system of the apparatus. A new servo system is used in this control system and its control principle and algorithm are proposed. The experimental results of the synchronous motion and safety function based on current detection indicated the effectiveness of this system.