| Manipulative dexterity is an ongoing challenge in the field of robotics. Robotic manipulation is a task generally addressed by end effectors (robotic gripping devices). End effectors come in a plethora of shapes, sizes and abilities. Robotic end effectors have historically been developed for industrial application. Robotics end effectors are now being developed for medical applications and even as human assistive devices.; This study examines the design and prototype development of a robotic end effector to assist individuals with opening doors. As people age or develop medical conditions which impact gripping ability, their effective ability to grasp and manipulate objects such as door knobs impacts their quality of life. The loss of gripping ability often leads to the need for in-home care or residence in an assistive care facility.; A robotic end effector for opening doors will allow home robots access and freedom to move about the home and aid those individuals who have difficulty operating door knobs and handles. For an assistive in-home robot, manipulating objects around the home is of high importance. However, such a device must come at low cost and simplicity in order to make it accessible to a large number of disabled individuals.; This study examines the development of a simple end effector for opening doors. The study culminated in the development of an end effector that can effectively grasp and manipulate a variety of door knobs and handles. The end effector grasped and manipulated 100% tested door knobs and manipulated 100% of tested door handles. The results of this project show that it is possible to develop a simple, light weight, under-actuated robotic end effector that is capable of dexterous manipulation of more than one specific object geometry. |
