Abstract: Apparatus for adjusting the braking force of brakes applied to vehicle wheels wherein the brakes are operated in on-off manner as a function of the deceleration or acceleration of the wheels. For a given braking signal the braking force is eliminated when the deceleration of the braked wheel exceeds a predetermined threshold value and the reapplication of the braking force is delayed for a period of time proportional to the magnitude and duration of deceleration of the wheel and inversely proportional to subsequent acceleration of the wheel when such acceleration exceeds a predetermined threshold.