A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle and an outer rim surrounding the inner rim. The wheel assembly may include gas springs operatively coupled between the inner rim and the outer rim and tread assemblies carried by the outer rim.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle, and an outer rim surrounding the hub. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. The wheel assembly may also include a disk coupled to the inner rim and defining a closeable gap with adjacent interior portions of the outer rim to define a mechanical stop to limit relative movement of the inner rim and outer rim.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle, and an outer rim surrounding the hub. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. The wheel assembly may also include a disk coupled to the inner rim and defining a closeable gap with adjacent interior portions of the outer rim to define a mechanical stop to limit relative movement of the inner rim and outer rim.

A wheel assembly may include an inner rim to be coupled to the hub of the vehicle, and an outer rim surrounding the inner rim. Gas springs may be operatively coupled between the inner rim and the outer rim and permitting relative movement therebetween. The wheel assembly may also include a sensor configured to sense the relative movement between the inner and outer rims.

A wheel assembly may include an inner rim to be coupled to the hub of the vehicle, and an outer rim surrounding the inner rim. Gas springs may be operatively coupled between the inner rim and the outer rim and permitting relative movement therebetween. The wheel assembly may also include a sensor configured to sense the relative movement between the inner and outer rims.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle and an outer rim surrounding the hub. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. The wheel assembly may also include an outer ring coupled to the outer rim and defining a closeable gap with adjacent interior portions of the inner rim to define a mechanical stop to limit relative movement of the inner rim and outer rim.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle and an outer rim surrounding the hub. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. The wheel assembly may also include an outer ring coupled to the outer rim and defining a closeable gap with adjacent interior portions of the inner rim to define a mechanical stop to limit relative movement of the inner rim and outer rim.

A wheel assembly to be coupled to a hub of a vehicle may include an inner rim to be coupled to the hub of the vehicle and an outer rim surrounding the hub. The wheel assembly may also include gas springs operatively coupled between the inner rim and the outer rim to provide a gas suspension for relative movement between the inner rim and the outer rim. The wheel assembly may also include an outer ring coupled to the outer rim and an inner ring coupled to the inner rim and defining a closeable gap with adjacent portions of the outer ring to define a mechanical stop to limit relative movement of the inner rim and outer rim.

A wheel with adjustable radius or tread firmness including a hub assembly, primary spokes, a suspension assembly positioned at the outer end of each primary spoke, and treads attached to the outer end of each suspension assembly. The hub assembly includes a radius lock and a tensioner lock. When each is in a locked position, the radius and tread firmness of the wheel remains constant. When the radius lock or the tensioner lock is in an unlocked position, the radius or the tread firmness, respectively, is adjusted by rotating the wheel relative to internal components of the hub assembly. This relative rotation adjusts the tension on internal cords to adjust the length of the primary spokes or flexibility of the suspension assemblies, respectively. Optionally, secondary spokes may be positioned between each of the primary spokes and the suspension assemblies. The radius and tread firmness is adjustable under a load.

A wheel with adjustable radius or tread firmness including a hub assembly, primary spokes, a suspension assembly positioned at the outer end of each primary spoke, and treads attached to the outer end of each suspension assembly. The hub assembly includes a radius lock and a tensioner lock. When each is in a locked position, the radius and tread firmness of the wheel remains constant. When the radius lock or the tensioner lock is in an unlocked position, the radius or the tread firmness, respectively, is adjusted by rotating the wheel relative to internal components of the hub assembly. This relative rotation adjusts the tension on internal cords to adjust the length of the primary spokes or flexibility of the suspension assemblies, respectively. Optionally, secondary spokes may be positioned between each of the primary spokes and the suspension assemblies. The radius and tread firmness is adjustable under a load.