Table 4.

Preliminary Design Recommendations.

Design Recommendation Parameters
Parameter	Description
Customizability	Capability to tailor programs or behaviors to user preferences
Interaction / Collaboration	Ability to work as a robot-human team to meet a common goal
Manipulation	Level of dexterous manipulation (i.e., fine, gross)
Payload	Range of weight of expected objects for the robot to interact with
Range of motion	Large kinematic workspace to reach high/low/near/far
Storage / size	Physical attributes such as footprint, height, and mass