US Patent 7013939 Compliant wheel

A compliant wheel includes a compliant band and a plurality of web spokes extending transversely across and inward from the reinforced compliant band for attachment to a hub. The compliant band bends to comply with a contact surface and to envelope obstacles. The web spokes transmit load forces between the compliant band and the hub through tension in the web spokes not connected to the ground contacting portion of the wheel. The outer surface of the compliant band may be formed to include a tread, or a separate tread band may be attached.