#$%^&*AU2016101678A420161208.pdf#####TITLE: COMPACT WHEELCHAIR MOTOR WITH AN ENCODER Abstract A compact wheelchair motor with an encoder, characterized in that a motor shaft of the wheelchair motor passes through a brake and extends to the outer side of the brake and the wheelchair motor is provided with an encoder, a magnetic ring of the encoder is sleeved on an encoder shaft, and the encoder shaft is connected to the motor shaft a through hole fitted with the brake is formed on a housing of the encoder.