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Camilla, when you mentioned a rope tied to the bed frame, I got a mental picture of a device used to life engines out of cars, I think it's called a "block and tackle" , it consists of two sets of metal pulleys, with rope, or steel cables, attached to the item being lifted. the principal of operation is the exchange of speed for power. You might take 10 times longer, but a 100 pounds takes the strength normally required to lift 10 pounds. I think this could be easily adapted to lift or pull a person without harm to the caretaker. The parts should be available at a hardware store, or maybe an auto parts store, I would guess it should not be expensive. Anyone who works on engines should be able to supply more details.