 A power-assisted wheelchair is a recent development that uses the frame and seating of a typical rigid manual chair while replacing the standard rear wheels with wheels of similar size which incorporate batteries and battery-powered motors in the hubs.A floating rim design senses the pressure applied by the users push and activates the motors proportionately to provide a power assist.This results in the convenience, and small size of a manual chair while providing motorised assistance for rough/uneven terrain and steep slopes that would otherwise be difficult or impossible to navigate, especially by those with limited upper-body function.