Assistive Robotics for Patient Care: A Review of Physical Human–Robot Interaction Approaches

Assistive robotics is increasingly relevant for supporting people with reduced mobility and reducing caregiver burden in healthcare, care-home, and domestic environments. In these contexts, physical human–robot interaction (pHRI) is essential, since assistance may involve manipulating objects on behalf of the user, transferring items, or acting directly on the user’s body. This paper presents a technically focused state-of-the-art review of physical assistive robotics for patient care. The literature is organised along two complementary axes: indirect object- or environment-mediated assistance and direct body-contact assistance; and the technical pillars required for deployment, namely manipulation, perception, interaction, and safety. Representative systems are analysed across task domains including object retrieval and delivery, hospital support, dressing, bathing, patient transfer, bed repositioning, mobility support, and feeding. The review identifies different validation patterns between indirect- and direct-assistance systems, with indirect systems more frequently evaluated with target populations. Finally, open challenges are discussed, including robust operation in realistic environments, task-specific safety validation, longitudinal user studies, and user-centred integration with patients, caregivers, and healthcare staff.