An active wheel suspension for suspending a wheel assembly (12,14) from a sprung body of a wheeled vehicle (10), and adapted to permit a centre (68) of the wheel assembly (12,14) to move relative to the sprung body through a jounce and rebound travel and defining a wheel centre (68) locus path relative to the body, the suspension including an actuator (16) connected to both the wheel assembly (12,14) and the sprung body and adapted to apply an active control force between the body and wheel assembly (12,14) to move the wheel assembly (12,14). The wheel suspension is configured such that a tangent to the wheel centre (68) locus path is inclined rearward with respect to vertical with the wheel centre (68) at nominal ride height.
