Disclosed is a wheelchair driving system 100 configured for coupling to at least one wheelchair wheel, said system comprising a driving module, and a control module. The control module is configured to receive an input generated by actuation of the at least one wheelchair wheel. The control module transmits an output to the driving module in response to the input, such that the wheelchair is driven across a surface. The driving module may comprise at least one driving wheel 122. The control module may be coupled to a pair of wheelchair wheels, and may receive signals from each wheelchair wheel independently. The system preferably comprises two gyroscopes 104a,104b. The system may comprise first and second sub-modules, each configured to receive input from one of a first or second wheelchair wheel. The control module may couple to the wheelchair wheels using wheelwells 102a,102b. The wheels may be elevated relative to the surface. Further disclosed is an assembly comprising a wheelchair and the disclosed wheelchair driving system.
