Rolling resistance is the most basic component of force counteracting movement of a vehicle equipped with a wheel and axle. This value is particularly important in the case of systems that are powered by muscle effort, such as for example a wheelchair. Modeling and analysis of the motion of such a vehicle requires knowledge of rolling resistance. There are a number of ways to measure the values essential for calculation of rolling friction, although individual methods have specific advantages and disadvantages. Therefore, a research method was developed that allows to determine the value of resistance to motion in real conditions - without the need to disassemble the wheels from the vehicle. The aim of the work was to determine the resistance to movement of wheels used in, inter alia, wheelchairs and to evaluate the research method developed for this end. The article contains a description of the research methodology and the results of the determined rolling resistance coefficient values. In relation to the previously developed research methods, an improvement was introduced, which allowed to reduce the impact of the inertia of the moving system on the test results. This is an important issue, especially for wheels with low load capacity, which are unable to withstand a considerable value of vertical force. The results presented in the study are a continuation of the research related to the analysis of wheelchair’s rolling resistance.