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Wheelchairs are the primary means of movement for people with mobility disabilities, regardless of their type of drive. One of the main features of wheelchairs, besides their ability to generate drive, maneuverability, and body support, is their stability of movement. This stability largely depends on the height of the center of gravity in the human-wheelchair system. This parameter is very important from the perspective of wheelchair user safety, especially when overcoming architectural obstacles such as curbs, stairs, or slopes. Currently, many models available on the market have additional protection in the form of support wheels, which prevent the wheelchair from tipping over backwards with the user. However, the use of these support wheels is associated with an increase in the weight and dimensions of the wheelchair, as well as a decrease in ergonomics. Faced with this problem, the authors have set out to present an innovative method for calculating the height of the center of gravity and conducted a series of experimental tests on various wheelchair designs. The research analyzed the displacement of the center of gravity depending on the angle of the inclination of the ground from 0⁰ to 15⁰. The conclusions obtained regarding stability and the calculation of the center of gravity in relation to maintaining balance can form the basis for designing new wheelchair structures.