A theoretical model of two-dimensional active control for ambulance stretcher suspension is proposed. The shaping filter equations of time domain are developed to provide optimal estimates of the disturbance dynamics. Numerical calculations are carried out to examine the effectiveness of proposed control scheme. It shows that the optimal control with disturbance feed-forwarded provides significant reduction of vertical and pitch vibration transmission compared with the passive stretcher suspension. The relative displacement and resonance peak values of vibration components in the sensitive frequency range of human body are effectively suppressed in comparison with that of the 1-DOF active control stretcher.