The new generation of telemedicine systems enables healthcare service providers to monitor patients not only in the hospital but also when they are at home. In order to efficiently exploit these systems, human information collected from end devices must be sent to the medical center through reliable data transmission. In this paper, we propose an adaptive relay transmission scheme to improve the reliability of data transmission for wireless body area networks. In our proposal, relay nodes that have successfully decoded a packet from the source node are selected as relay nodes in which the best relay with the highest channel gain is selected to forward the failed packet instead of the source node. The scheme addresses both the data collision problem and the inefficient relay selection in relay transmission. Our experimental results show that the proposed scheme provides a better performance than previous works in terms of the packet delivery ratio and end-to-end delay.