Wheelchairs are essential medical devices to facilitate the movement of injured persons or those with various disabilities like paraplegics. More and more mechanisms have been introduced to facilitate daily needs and to improve their quality of life, but the transfer from wheelchair to bed and vice versa is still done in an inefficient way. A solution to solve this problem is the introduction of new mechanisms that facilitate a reconfiguration of the wheelchair into bed and vice versa, at the expense of the transfer from one to the other. At the same time, the reconfiguration mechanisms must also facilitate the fulfillment of other functions such as balancing the forces for the backrest and the footrest, morph into wheelchair, bed, raising to an orthostatic position, tilting on one side and others. The paper proposes an adapted Inverted Cardan-Gear Spring force balancing mechanism, which can be used both for the tilting and reclining of a wheelchair’s backrest and footrest. The rotating mass can be perfectly balanced in theory by using either one or two linear springs. The proposed mechanism uses a special straight-line geared mechanism with one spring for a perfect static balancing of a rotational body. The mechanism can be actuated manually or by a servo motor and is currently used as a 1-DoF gravity balancer for a rotational joint (backrest and footrest) but can also be applied in multi-DoF mechanisms.