Wheelchair-Mounted Robotic Arms: A Systematic Review of Technical Design and Activities of Daily Living Outcomes

Document Type

Article

Publication Date

10-2025

Publisher

Taylor & Francis

Source Publication

Disability and Rehabilitation

Source ISSN

0963-8288

Original Item ID

DOI: 10.1080/17483107.2025.2547042

Abstract

Purpose

This review examines wheelchair-mounted robotic arms (WMRAs) as an emerging assistive technology that enhances independence and quality of life for individuals with upper- and lower-limb disabilities. By enabling independent performance of activities of daily living (ADLs), WMRAs hold significant promise for disability and rehabilitation. The article aims to critically evaluate the state of the art in WMRA research and development, identifying persistent challenges and highlighting promising innovations.

Materials and Methods

The review systematically analyzes literature on WMRAs published between 2001 and 2025. The analysis emphasizes design specifications, degrees of freedom, actuation methods, control strategies, and performance evaluations. A comparative synthesis is conducted to assess how existing systems support ADL execution, while also integrating technical considerations with user-centered outcomes.

Results and Conclusions

The findings indicate that current WMRA designs face significant limitations, including restricted workspace coverage, inadequate gripper dexterity, suboptimal kinematic configurations, limited payload capacity, high cost, and lack of modularity. Safety mechanisms remain underdeveloped, creating barriers to broader adoption. Nevertheless, advancements in AI-driven control systems, modular design strategies, and integration with complementary assistive technologies demonstrate promising progress. The review concludes that WMRAs have substantial potential to improve autonomy and daily functioning for individuals with disabilities. Addressing technical and practical shortcomings is essential to ensure successful real-world deployment. These insights contribute to disability and rehabilitation research, as they highlight pathways to enhance accessibility, safety, and cost-effectiveness in assistive technologies that support independent living.

Implications for rehabilitation

  • Wheelchair-mounted robotic arms (WMRAs) can substantially enhance independence in activities of daily living by enabling users to complete essential tasks such as eating, grooming, and object retrieval without continuous caregiver support.

  • Incorporating modular designs, optimized degrees of freedom, and improved gripper technologies can expand functionality and adaptability, ensuring WMRAs meet diverse user needs across home and community settings.

  • AI-driven control systems and intuitive multimodal interfaces (e.g., voice, gesture, or brain-computer inputs) can reduce cognitive effort, personalize assistance, and make WMRAs more usable for individuals with varying levels of motor ability.

  • Improved safety mechanisms, cost-effectiveness, and integration with other assistive technologies are essential to broaden accessibility, increase user trust, and support inclusion in daily life participation.

Comments

Disability and Rehabilitation, Vol. 20, No. 7 (October 2025): 2532-2556. DOI.

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