Table 3 Overview of included studies: characteristics

MIT-MANUS (InMotion2)

S, E

Acute

6

[43–48]

132

24.2 (10.9)

P, As, AA, PG

SDG, NC, P, PF, TA

Chronic

20

[48–59]

394

22.3 (17.0)

As, AA, R, Ac

SDG, MA, NC, PF, S, TA

MIT-MANUS (InMotion2)

S, E, F, W, H

Chronic

3

[27, 49]

64

24.0 (10.4)

As, AA

SDG, PF

MIT-MANUS (InMotion2 + 3)

S, E, F, W

Chronic

3

[59–61]

63

36.0 (0)

As, AA, Ac

SDG, NC, PF

Bi-Manu-Track

F, W

Acute

2

[62, 63]

53

10.0 (0)

P, PM, R

P, PM, S

Chronic

5

[64–67]

48

26.8 (12.9)

P, PM, R, Ac

NC, P, PM, S

MIME

S, E

Acute

2

[68]

36

12.2 (5.1)

P, PM, AA, R

NC, P, PM,S

Subacute

3

[69]

24

15.0 (0)

P, PM, AA, R

SDG, P, PM, TA, D

Chronic

4

[70–72]

37

24.0 (0)

P, PM, AA, PG, R

SDG, P, PM, TA, D

1 DoF robotic device

W

Chronic

1

[73]

8

20.0 (0)

P, AA, A

P, TA

2 DoF robotic device

S, E

Chronic

1

[73]

12

20.0 (0)

P, AA, A

P, TA

3 DoF wrist robotic exoskeleton

F, W

Chronic

1

[74]

9

10.0 (0)

As, Co, Ac

MA,D

5DoF industrial robot

S, E, W

Acute

1

[75]

8

21.4 (0)

P, AA, Ac

P

Amadeo

H

Acute

2

[76, 77]

14

9.2 (5.9)

P, AA

P, NC

Chronic

1

[78]

12

18.0 (0)

AA

NC, P

Mixed

2

[79]

15

15.0 (0)

P, As, Ac

NC, P

ACT3D

S, E

Subacute

2

[80]

14

Unknown

As, R

ACF

ARM-Guide

S, E

Chronic

1

[81]

10

18.0 (0)

AA

PF, TA

AMES

W, H

Chronic

1

[82]

5

65.0 (0)

P

P

BFIAMT

S, E

Chronic

1

[83]

20

12.0 (0)

PM, C, R

MA, PM, TW

Cyberglove, Cybergrasp + Haptic Master

S, E, W, H

Chronic

1

[84]

12

22.0 (0)

AA

ACF

CYBEX, NORM

W

Chronic

1

[85]

Unknown (27 in total)

Unknown

P

P

PolyJbot

W

Chronic

1

[85]

Unknown (27 in total)

Unknown

AA

EMG

EMG-driven system

E

Chronic

1

[86]

7

30.0 (0)

AA

EMG

W

Chronic

2

[87, 88]

15

42.0 (0)

As, AA, R

EMG, S

H

Chronic

1

[89]

10

20.0 (0)

As, Ac

EMG

AJB

E

Chronic

1

[90]

6

18.0 (0)

AA

EMG

Hand mentor robot system

W, H

Mixed

1

[91]

10

30.0 (0)

P, AA, Ac

P, TA

Myoelectrically controlled robotic system

E

Chronic

2

[92, 93]

14

16.0 (5.7)

As, AA, R

EMG, S

Gentle/S

S, E

Mixed

2

[94]

31

9.0 (6.4)

P, AA, Co, Ac

NC, P

Haptic Knob

F, W, H

Chronic

1

[95]

13

18.0 (0)

P, AA, R

MA, P

HWARD

W, H

Chronic

3

[96, 97]

36

22.8 (0.6)

AA, Ac

P, TA

Braccio di Ferro

S, E

Chronic

1

[98]

10

11.3 (0)

P, AA, Co, R, Ac

CF, T,D

MEMOS

S, E

Acute

1

[99]

9

16.0 (0)

P, AA, Ac

P, TA,

Chronic

3

[99–101]

49

16.0 (0)

P, AA, Ac

P, TA

MEMOS, Braccio di Ferro

S, E

Subacute

1

[102]

20

15.0 (0)

AA, Ac

TA

Chronic

1

[102]

21

15.0 (0)

AA, Ac

TA

REHAROB

S, E

Mixed

1

[103]

15

10.0 (0)

P

P

NeReBot

S, E, F

Acute

2

[104, 105]

28

18.3 (2.4)

P, As

P, PF

REO™ Therapy System

S, E

Acute

1

[106]

10

11.3 (0)

P, As

NC, P

ReoGo™ System

S, E

Chronic

1

[107]

19

15.0 (0)

As, AA, PG, Ac

NC

T-WREX

S, E, W, H

Chronic

2

[108, 109]

19

21.0 (4.2)

As, Ac

ACF

Pneu-WREX

S, E, H

Chronic

1

[110]

13

24.0 (0)

As, AA, Ac

ACF, NC

VRROOM, PHANTOM, WREX

S, E

Chronic

1

[111]

26

12.0 (0)

UL-EX07

S, E, F, W

Chronic

2

[112]

10

18.0 (0)

PM, As

PM, MA, SDG, ACF

BrightArm

S, E, W, H

Chronic

1

[113]

5

12.0 (0)

As

ACF, NC

Linear shoulder robot

S

Chronic

1

[114]

18

Unknown

As, AA

TA,ACF

L-Exos

S, E, F

Chronic

1

[115]

9

18.0 (0)

As, PG

MA, ACF