A footrest assembly for wheelchair of the type having a structure expandable from a contracted condition to an expanded position comprises a beam assembly having a structural member having a first end and a second end. A first joint one or more rotational degrees of freedom is adapted to interface the first end of the structural member to a first side of a frame of the wheelchair. A linkage assembly is connected to the structural member by a central joint with one or more rotational degrees of freedom and a lockable translational degree of freedom joint. A second joint with one or more rotational degrees of freedom is adapted to interface the linkage assembly to a second side of the frame of the wheelchair. A connector interface releasably engages the beam assembly to the linkage assembly and/or to the second joint when the wheelchair is deployed for use.
