Design of a Wheelchair-Mounted Arm for Mealtimes Assistance of Upper-Limb-Paralyzed Patients

This paper discusses the design and implementation of a wheelchair-mounted robotic arm (WMRA) as an autonomous assistance device for patients with upper limb paralysis. The goal of the project was to create an economical and reliable low-cost robot solution to enable user autonomy during mealtime. The design logic is divided into four phases, including analysis of competitors, definition of product specifications, optimization of structure through kinematic and dynamic analysis, and finally experimental testing of a prototype. This article provides a comprehensive overview of the WMRA robotic arm design and presents the results of experimental testing, demonstrating the effectiveness and reliability of the device as an assistive tool for patients with upper limb paralysis.