The JACO Robotic Arm gives independence to people with advanced muscular or severe upper extremity disabilities. It attaches to a power wheelchair (or countertop, or bedside table) and can grasp objects to complete tasks as complex as putting a ring on someone's finger. Using the wheelchair controller, the JACO robotic arm can help its user take a drink, retrieve something the user dropped, open the fridge to grab a snack, etc. It interfaces with most controllers—including sip-n-puffs, headrest arrays and joysticks. Users can pinch objects with a solid yet flexible grip.