A wheelchair has a base and a plurality of wheels supporting the base on a supporting surface. At least one of the wheels is a driven wheel. One of the wheels may be a non-driven wheel. One or more of the wheels, driven or non-driven, is adapted to be stee...

A wheelchair comprises a caster, a drive wheel, a sensor, and a controller. The sensor is provided for sensing operational characteristics of the caster. The controller is provided for controlling at least one of the speed, acceleration and deceleration of...