E. D. Oña, A. Jardon, C. Balaguer, A. Martínez, P. Sánchez-Herrera, J.C. Miangolarra. A pilot study on the design consideration and user impressions of an assistive affordable device . RoboCity16 Open Conference on Future Trends in Robotics. RoboCity16 Open Conference on Future Trends in Robotics, ISBN: 978-84-608-8452-1, pages: 19 - 28, CSIC. 2016-05-26, Madrid, Spain. 2016.