Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)In mechanical engineering, it is well established that contact between the tire and the ground is a key parameter in characterizing the dynamic behavior of vehicles and an important factor in design control. Therefore, it is an important part of dynamic simulation models for vehicles, including wheelchairs. This work presents a bench test designed to experimentally monitor and measure the forces transmitted to the ground by a moving wheel. The test bench is composed of a table and a track with a fixed wheel structure and powertrain system. The table is an integrated structure that measures the longitudinal and lateral forces produced by tire contact. This table allows characterization of the tire and tests the tire under varying loads at different slip and camber angles. Additionally, the test bench can also be used to evaluate other tires, such as caster tires. The performances of the new device are illustrated, and the results show the differences between tires, which are related to the dynamic behaviors of wheelchair model. Finally, preliminary experiments performed using the test bench have shown that it is able to monitor and measure the forces generated by the contact between the tire and the ground. (C) 2015 IPEM. Published by Elsevier Ltd. All rights reserved.382163170Brazilian Federal Agency for Support and Evaluation of Graduate Education (CAPES)National Council for Scientific and Technological Development (CNPq)DAADALLTECSchaeffler BrasilCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)