A crew transfer system for transferring personnel from a vessel to a stationary platform, such as an oil rig, is disclosed. In the illustrative embodiment, the system includes a ramp that is coupled to the vessel and an interface that is attached to the stationary platform. The ramp is coupled to the vessel in such a way as to permit one translational and three rotational degrees of freedom at the vessel-end of the ramp. The ramp is coupled to the interface in such a way as to permit no translational and at least one rotational degree-of-freedom at the rig-end of the ramp with respect to the interface. The interface is rotatably coupled to the stationary platform in such a way as to permit a rotation of the interface about the yaw axis. Permitted rotation of the interface enables a range of acceptable angles of orientation between the vessel and the platform.