A structured overview of trends and technologies used in dynamic hand orthoses

Table 6 Overview of included dynamic hand orthoses classified as haptic device

Name/ID	Country	Year range^a	ISO abbr.	Reported function	Actuator DOF^b	Wrist support^b
SKK Hand Master [68, 337]	South Korea	1999–2000	HdO	VR feedback	7	N/A
Koyama [338]	Japan	2002	HdO	VR feedback, teleoperation	0	N/A
Rutgers Master-II-ND [70]	USA	2002	HdO	VR feedback	4	N/A
LRP hand master [339]	France	2003	HdO	VR feedback	14	N/A
Stergiopoulos [65]	France	2003	HdO	VR feedback	2	N/A
Lelieveld [88, 340]	Japan	2006	FO	VR feedback	4	N/A
Nakagawara [341, 342]	Japan	2005–2007	HdO	tele-operation	6	N/A
Ryu [69]	South Korea	2008	WHFO	VR feedback	3	Not clear
CyperGrasp [343]	USA	2009	HdO	VR feedback	5	N/A
Fang [344, 345]	China	2009	HdO	teleoperation	5	N/A
Charoenseang [346]	Thailand	2011	HdO	VR feedback	9	N/A
Fontana [347, 348]	Italy	2009–2013	HdO	VR feedback, teleoperation	6	N/A
Dexmo F2 [349, 350]	China	2014	HdO	VR feedback	5	N/A
SPIDAR-10 [351]	Japan	2014	WHFO	VR feedback	20 (+1 wrist)	Assisted (PS) Limited (FE, RUD)
Jo [352, 353]	South Korea	2013–2015	HdO	VR feedback	5	N/A
SAFE Glove [354, 355]	USA	2015	HdO	VR feedback	6	N/A

^aYear ranges are determined by the year span between found literature sources and my differ from the actual time of development
^bActuator DOF = number of individually controlled actuators (zero means fully passive)
^cWrist can be assisted, resisted, limited or locked [29] in pronation/supination (PS), flexion/extension (FE) and radial/ulnar deviation (RUD)