This study examines the effective design and prototype development of a robotic end effector to assist individuals with door opening disabilities. A robotic end effector for opening doors will allow home robots access and freedom to move about the home and aid those individuals who have difficulty operating door knobs and handles. For an assistive in-home robot, manipulating objects around the home is of high importance. However, such a device must come at low cost and simplicity in order to make it accessible to a large number of disabled individuals. This study examines the development of a simple end effector for opening doors. The study culminated in the development of an end effector that can effectively grasp and manipulate a variety of door knobs and handles. The results of this project show that it is possible to develop an simple, light weight, under-actuated robotic end effector that is capable of dexterous manipulation of more than one specific object geometry.