Functionality and Performance Assessment of Assistive Robots’ Grippers Performing Activities of Daily Livings

Research Objectives: Two assistive robotic prototype devices were designed to assist people with upper extremity disorders in performing Activities of Daily Living (ADL). This study aimed to compare the functionality and performance of the 2-finger gripper and the 3-finger gripper while performing ADL tasks.

Design: Experimental study.

Setting: In the BioRobotics Lab.

Participants: Six healthy participants with a mean (SD) age of 26.3 (2.6) years old.

Interventions: Participants were seated in a wheelchair and used an integrated Finger Joystick to control an assistive robotic device to perform 19 essential daily tasks. At the conclusion of the study, the participants were asked to complete a user experience survey.

Main Outcome Measures: We assessed the device in 3 ways: (1) the total ADL coverage using the 2-finger gripper, (2) the limitations and issues of the 2-finger gripper performing activities of daily living, and (3) the total ADL coverage using the 3-finger gripper.

Results: The results show that the 3-finger gripper covers more daily living activities than the 2-finger gripper. The 2-finger gripper covers 47.36 percent of the 19 essential ADLs listed, while the 3-finger gripper covers 78.94 percent. The 2-finger gripper's shape and hinges caused issues opening/closing standard drawers, ovens, and doors, but not for the 3-finger gripper. The 2-finger gripper was able to hold up to 5 lbs whereas the 3-finger gripper was able to hold up to 20 lbs. Both grippers were able to hold the phone but could not put it in speaker mode. The 2-finger gripper could not hold medicine and maneuver it near the mouth but not with the 3-finger gripper. Both grippers were unable to complete the opening/closing lid of a jar, holding/swiping credit cards, and turning pages of a book.

Conclusions: The 3-finger gripper seemed to be more functional than the 2-finger gripper. Our next step is to test the feasibility and usability in people with upper extremity disorders.

Author(s) Disclosures: The authors have no conflicts of interest to declare.