Systems and methods of wheelchair systems enabling fine manual motion control are disclosed. In one embodiment, a wheelchair system includes a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine a wheel torque on the one or more wheels, determine a compensation value, and actuate the at least one actuator applying the compensation value to the one or more wheels to remove at least a portion of the wheel torque such that less external force is required to physically move the powered wheelchair than when the compensation value is not applied.