Selection Considerations and a Comparison of Commercial Wheelchair Mounted Robotic Arms

users of powered mobility, typically also have upper extremity limitations that impede their ability to perform activities of daily living (ADLs). A wheelchair mounted robotic arm (WMRA) offers the user an option to perform these tasks and become more independent, which makes it essential that the device is effective and efficient. In this paper, three important aspects were studied to help the WMRA designers have a standardized method of evaluation of performance as well as considerations clinicians should look for when prescribing these devices to different individuals with disabilities. These three aspects are: Kinematical analysis to assess the space constraints, user interface & control (evaluation) to determine user acceptance, and WMRA selection criteria.