This paper will present a study of the dynamics of the contact between the tire of a wheelchair and the ground. The model of the contact between road and tire has been implemented using a mathematical concept in a 2D multibody program, creating a laboratory. With this laboratory, it is possible to see the behavior of the wheelchair with different input sources. In this work the input is taken care of by a program called HaWCoS which allows the user to control a wheelchair without the need to use the hands. The results make it possible to develop new products for people with special needs and to develop better control systems by taking the dynamic behavior of wheelchairs into consideration.