Orthotic devices are prescribed for individuals who have partially lost motor control, such as stroke survivors or those with cerebral palsy, to assist with stability and function. Unlike prostheses, devices available for those missing part of a limb, there is a limited market for upper-limb orthoses. As a result, options for users can be clunky, expensive, and hard to customize. The goal of this research was to develop a 3D-printed elbow-driven orthosis that is inexpensive, adjustable, and helps users to perform two-handed daily tasks. Inspired by our participant who has limited hand function on her left side due to a seizure reducing brain surgery, we took a user centered design approach. By tuning the cable length running from the elbow to the hand, we took advantage of her existing range of motion to activate a clamp near the palm. We chose a modular approach for the clamp to suit a variety of daily activities, such as picking up small objects and holding a drumstick. In comparison to traditional devices that can reach hundreds of dollars, our cost has been reduced to roughly $20 largely because of the use of 3D printed parts. Through a continuous cycle of prototyping, receiving feedback, and modifying the design accordingly, we have created a device adapted to suit both adult and child sizes. While feedback from unimpaired participants was primarily received, we also plan to further test the device on individuals with limited hand function for more diverse perspectives from potential users. Ultimately, we aim to publish our designs open-source to promote further modifications and availability.