Table 2 List of Functional Tasks
   Task | Description | Performance metric | Tool |
|---|---|---|---|
   Doorknob turning | Turn a door knob with power grasping to the end of turning range, and release it. | Angle | Knob |
   Doorbell pushing | Push a door bell with a finger over a threshold force. | Force | Doorbell |
   Jar opening | Turn a jar with power grasping up to the end of turning range. | Angle | Jar |
   Door opening | Move a door knob horizontally with power grasping. Mostly elbow and shoulder motion. | Angle | Knob |
   Door locking | Turn a door knob button with pinch grasping to the end of turning range. | Angle | Knob |
   Screwdriving | Turn a screwdriver with power grasping to the end of turning range. | Angle | Screw driver |