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This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and comparing end-effectors. The long-term goal is a standard framework for providing technical specifications for robotic end-effectors to help pair technologies to application spaces. This paper presents a subset of the metrics - grasp strength, grasp cycle time, finger strength, and finger repeatability - with accompanying measurement techniques and supporting test artifacts. The application of these metrics and protocols is demonstrated using example implementations to characterize a variety of robot end-effectors, with example data sets and test designs provided for downloading.

Palliative care is aimed to improve the quality of life of both patients and their family members during the course of life-threatening diseases through the prevention, early identification and treatment of the symptoms of physical, psychological, spiritual and social suffering. Palliative care should be provided to every critically ill patient; this requirement renders the training of intensive care practitioners and education initiatives fundamental. Continuing the Technical Council on End of Life and Palliative Care of the Brazilian Association of Intensive Medicine activities and considering previously established concepts, the II Forum of the End of Life Study Group of the Southern Cone of America was conducted in October 2010. The forum aimed to develop palliative care recommendations for critically ill patients.