Abstract: A wheelchair hand rim that provides improved control and mobility has a cross-sectional contour that is configured to optimize the gripping surface and finger wrap over widely differing angles. The contour (taken at top dead center) is characterized by a lower curved portion of sufficient radius to provide a firm finger grip, a generally vertical inboard portion, an outboard gently curved portion that slopes inboard from bottom to top, and an upper curved portion that includes an outboard segment of a first radius sufficient to provide a firm upper palm grip and an inboard portion of a second, smaller radius that is still sufficient to provide a smooth rest for the thumb of the user. A hand rim suitable for users having extremely limited grip strength has a peripheral configuration that is not circular, but rather undulating.