This is a thesis for a Bachelor Degree Project, performed in the subject MechanicalEngineering. The students Roger Malmberg and Simon Hagberg have carried out adesign project on behalf of the recently established company J&D Assisting systems,located in Halmstad.The project consisted in developing J&D's first prototype of a power assisting solutionfor wheelchairs. A power assisted wheelchair combines human power, which is deliveredby the arms through the pushrims, with electrical motors, which are powered by a battery.The power assisted wheelchair is aimed at customers, who have used a regularwheelchair for a long time, but who have become weaker or just need additional powerwhen driving uphill. This kind of wheelchair will provide additional power for users,which will spare their wrists, elbow and shoulders. The product is torque sensor free andinstead it relies on the velocity.