Advances in data science and wearable robotic devices present an opportunity to improve rehabilitation outcomes. Some of these devices incorporate electromyography (EMG) electrodes that sense physiological patient activity, making it possible to develop rehabilitation systems able to assess the patient's progress when performing activities of daily living (ADLs). However, additional research is needed to improve the ability to interpret EMG signals. To address this issue, an off-line classification approach for the 26 upper-limb ADLs included in the KIN-MUS UJI dataset is presented in this paper. The ADLs were performed by 22 subjects, while seven EMG signals were recorded from their forearms. From variable-length EMG time windows, 18 features were computed, and 13 features more were extracted from frequency domain windows. The classification performance of five different machine learning techniques, including Support Vector Machines (SVM), Convolutional Neural Networks (CNN), Gated Recurrent Unit (GRU) network, XGBoost, and Random Forests, were compared. CNN performed best amongst individual models, with an accuracy above 80%, compared to SVM with 77%, GRU with 73.9%, and the tree-based models below 64%. Ensemble learning with four CNN models achieved an even higher accuracy of 86%. These results suggest that the CNN ensemble model is capable of classifying EMG signals for most ADLs, which could be used in off-line quantitative assessment of robotic rehabilitation outcomes.