Wheelchair

A wheelchair comprising:

• a frame;
• a pair of drive wheels rotatably coupled to the frame;
• at least one motor, wherein each motor of the at least one motor coupled to at least one drive wheel of the pair of drive wheels;
• at least one handle coupled to the frame, wherein the at least one handle is configured for pushing by a caregiver positioned behind the wheelchair;
• at least one sensor configured to measure a force applied to the at least one handle;
• and
• a controller in communication with the at least one sensor and each motor of the at least one motor, wherein the controller is configured to receive at least one input from the at least one sensor corresponding to the force applied to the at least one handle, wherein the controller is configured to control operation of the at least one motor based on at least one input from the at least one sensor.

A wheelchair comprising:

• a frame;
• a first structure that is pivotably coupled to the frame about a first axis, wherein the first structure comprises a lever;
• a second structure that is pivotably coupled to the frame about a second axis, wherein the second structure comprises a footplate;
• and
• a bar pivotably coupled to the first structure about a third axis and pivotably coupled to the second structure about a fourth axis,
• wherein pivotal movement of the lever about the first axis effects pivotal movement of the footplate about the second axis.