Wheelchairs are vital for people with disabilities, offering maneuverability, versatility, and ease of use. However, while highly functional models are in demand, automated reconfiguration systems often rely on high-power motors that increase weight, energy consumption, and maintenance costs. The paper proposes a new mechanism design for the actuation and reconfiguration of wheelchairs, in order to address these limitations. The design allows the use of motors with lower acting power or a manual acting force. The proposed solution uses a scotch-yoke spring mechanism to balance the forces in each position for tilting and reclining a body mass present on the back- and footrest of a wheelchair and works in a range of oscillations of the back- and footrest of 90°.