Kye Thomas, 27, of no fixed abode in the Basingstoke district, was apprehended after a manhunt following his alleged escape from police custody at Winchester Hospital on November 29.
He also faces charges of assaulting a police constable and burglary involving the theft of a mobile phone under threat of violence.
In a hearing at Winchester Crown Court on Wednesday, January 8, Thomas pleaded not guilty to the escape from custody and burglary charges but admitted to assaulting an emergency worker.
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Judge Angela Morris questioned Thomas’ plea, citing police claim that he had escaped while his handcuffs were removed at the hospital.
However, Thomas’ defence counsel, Chloe Jay, argued that the matter hinged on whether Thomas was in lawful custody at the time of the escape.
Ms Jay said that Thomas had been released on licence for a previous offence but was recalled to prison without clear justification.
She told the judge that his arrest and subsequent detention may have been unlawful, and added that she was not satisfied he was in lawful custody at the hospital.
Prosecution counsel Simon Walters informed the judge that evidence and statements for the case would be submitted by Tuesday, January 28.
The trial is scheduled to begin on July 2.