Optimal design of a wheelchair-mounted robotic arm for activities of daily living.

Purpose: The increasing prevalence of upper limb dysfunctions due to stroke, spinal cord injuries, and multiple sclerosis presents a critical challenge in assistive technology: designing robotic arms that are both energy‑efficient and capable of effectively performing activities of daily living (ADLs). This challenge is exacerbated by the need to ensure these devices are accessible for non‑expert users and can operate within the spatial constraints typical of everyday environments. Despite advancements in wheelchair‑mounted robotic arms (WMRAs), existing designs do not achieve an optimal balance-minimizing energy consumption and space while maximizing kinematic performance and workspace.