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A novel wheelchair called PURE ( Personalized Unique Rolling Experience) that uses hands hands-free (HF) torso leanlean-to -steer control has been developed for manual wheelchair users (mWCUs). PURE addresses limitations of current wheelchairs, such as the in ability to use both hands for life experiences instead of propulsion. PURE uses a ball ball-based robot drivetrain to offer a compactcompact, selfself- balancing , omnidirectional mobile device. A custom sensor system convertconverts rider torso motions into direction and speed commands to control PURE, which is especially useful if a rider has minimal torso range of motion. We explored whether PURE’s HF control performed as well as a traditional joystick (JS) human human- robot interface and mWCUsmWCUs, performed as well as able able-bodied users (ABUs). 10 mWCUs and 10 ABUs were trained and tested to drive PURE through courses replicating indoor settingssettings. Each participant adjusted ride sensitivity settings for both HF and JS control . Repeated Repeated-measures MANOVA tests suggested that the number of collisions collisions, completion time time, NASA TLX scores except physical demand , and index of performance performances were similar for HF and JS control and between mWCUs and ABUs for all sections. Th is suggestsuggests that PURE is effective for controlling this new omnidirectional wheelchair by only using torso motion thus leaving both hands to be used for other tasks during propulsion propulsion.