A wheelchair propulsion analysis system that can be used to generate the motion of propulsion and calculate the driving force and the muscular force using a human model having a skeleton and muscles was developed. To evaluate the driving force and muscular forces calculated by the analysis system, typical forward movement of two cycles of propulsion from the start-up on a flat floor and on a slope were measured and the movement including the trunk was input to the system. In addition, the muscular forces of biceps, triceps, clavicular and acromion deltoids, pectoralis major and extensor carpi radialis were evaluated by electromyogram. The calculated driving force was in good agreement with the measured driving force even on the slope and the trend of calculated muscular force corresponded with measured electromyogram data. The system is effective for analyzing the driving force and load on muscles during the wheelchair propulsion.