Abstract: The present disclosure may relate to a wheelchair that includes a first centerless wheel assembly including a drive roller guide assembly and three other roller guides, and a first drive mechanism coupled to the first drive roller guide assembly to drive the first centerless wheel assembly. The wheelchair may also include a second centerless wheel assembly including a drive roller guide assembly and three additional roller guides, and a second drive mechanism coupled to the second drive roller guide assembly to drive the second centerless wheel assembly.

Abstract: The present disclosure may relate to a computer readable medium containing instructions that include obtaining a first signal corresponding to an idler roller guide speed, obtaining a second signal corresponding to a tire speed, and obtaining a third signal corresponding to a motor speed. The instructions may also include comparing the idler roller guide speed to an idler threshold based on a relationship between the idler roller guide speed, the tire speed, and the motor speed and comparing the motor speed to a motor threshold based on the relationship. The instructions may additionally include, based on one or both of the idler roller guide speed exceeding the idler threshold and the motor speed exceeding the motor threshold, determining that a slippage has occurred, and in response to the slippage, initiating a corrective action.

Abstract: The present disclosure may relate to a wheel that may include first and second exoskeleton plates. The wheel may also include first and second roller guide assemblies that each include one or more bearings, a roller guide coupled with the one or more bearings, and a shaft spanning the first and second exoskeleton plates and coupled with the roller guide such that the roller guide rotates around the shaft. The wheel may also include a tire and a centerless rim coupled with the tire. The centerless rim may be configured to have a shape that corresponds to a shape of the roller guide, and the roller guide may be configured to contact the centerless rim as the centerless rim rotates. The wheel may also include a first limiter to maintain contact between the centerless rim and the roller guide, and a second limiter.