An initial prototype was created that eliminates jerk, measures effort to some extent, applies positive torque, applies negative torque, controls directions, allows folding to some extent and interfaces with common wheelchairs. The team decided on the functions of the prototype. To eliminate jerk the device has progressive stopping and accelerations. Additionally the device is able to measure the angle of incline the wheelchair is on and change the settings accordingly to measure the effort of the user based on incline grade. Further functionality is that the two motor systems used for the device enables positive torque, negative torque and control of direction. Folding the wheelchair while the device is limited, but possible. Overall a lot of work has been done to enable the device to move the wheelchair and steer the device safely. The device is currently a ways away from being a finished product that could be sold to the public but makes areas that may have been hard to navigate before easier for users.