Wheelchair-mounted robotic arms: a systematic review of technical design and activities of daily living outcomes

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.