In order to let assistive robots be utilized in daily lives, it is important to analyze the daily life of users before development, and to enable users to understand the benefit of the robot after development. In this paper, we focus on the robotic arms for daily support, and firstly show the analysis of daily life in the viewpoint of “hand use.” The specification of robotic arms such as the DoF and payload can be determined based on the analysis. Then we show how to describe the benefit of robotic arms. A prototype of database for assistive device is created to show the benefit of assistive robots together with other information such as who can use, how to use, where to use. We utilize ICF approved by the WHO for such analysis and description.