Table 4 Summary of framework analysis
From: Soft robotic devices for hand rehabilitation and assistance: a narrative review
Device / Group | Assisted Motion | Portability | Safety | User Intent Modality | Total DOF | No. Ind. Actuators | Weight (g) | Input force | Ext. torque / Grip force |
|---|---|---|---|---|---|---|---|---|---|
Cable systems | |||||||||
 Biggar et al. [27] | F | Y | – | – | 9 | 3 | – |  |  |
 Cao et al. [28] | F | – | – | sEMG | 9 | 1 | 50 |  |  |
 Exo-Glove Poly / Kang et al. [29] | E/F | Y | – | – | 9 | 2 | – |  | - / 29.5 N |
E/F | Y | – | Bend sensors | 9 | 3 | 194 | 50 N | - / 40 N | |
 GraspyGlove / Popov et al. [33] | E/F | Y | – | – | 12 | 1 | 250 |  |  |
 GRIPIT / Kim et al. [34] | F | – | – | – | 9 | 1 | 40 |  |  |
F | Y | – | Pressure sensors | 9 | – | 70 |  |  | |
E/F | Y | Spool rotational limit | sEMG | 15 | 1 | – |  |  | |
 Park et al. [40] | E/F | Y | Magnetic coupling | – | 15 | 2 | – | 34 N | - / 35 N |
 RoboGlove / Diftler et al. [17] | F | Y | Multi-modal | – | 15 | 3 | 771 |  | - / 222 N |
 SEM Glove / Nilsson et al. [41] | F | Y | – | Pressure sensors | 9 | 3 | – | 20 N | - / 24 N |
E | Y | Verbal command | sEMG + Voice | 15 | 1 | 225 | Â | Â | |
 Xiloyannis et al. [46] | F | Y | – | – | 9 | 1 | – |  |  |
 Yao et al. [47] | E/F | – | – | – | 17 | – | 85 |  | - / 11 N |
 Yi et al. [48] | E/F | – | – | – | 12 | – | < 100 |  |  |
Pneumatic systems | |||||||||
 Al-Fahaam et al. [49] | F | Y | Pinky control | – | 12 | – | 100 | 400 kPa | - / 17 N |
 Coffey et al. [50] | E | Y | – | EEG | 15 | 1 | – |  |  |
 Exo-Glove PM / Yun et al. [51] | F | Y | Pressure sensor | – | 16 | 1 | – | 300 kPa | - / 22 N |
 Kline et al. [19] | E | – | Pressure sensor | sEMG | 15 | 1 | 100 | 34 kPa | < 1 Nm / - |
 Li et al. [52] | E | – | – | – | 15 | 1 | – |  |  |
 Low et al. [53] | F | – | – | – | 3 | 1 | 25 |  |  |
 Maeder-York et al. [54] | F | Y | – | – | 3 | 1 | – | 207 kPa |  |
F | Y | – | – | 12 | – | 180 | 120 kPa | - / 41 N | |
 Nordin et al. [56] | F | – | Emergency button | – | 15 | 3 | – | 200 kPa | - / 3.61 N |
 Noritsugu et al. [57] | F | – | – | – | 15 | 2 | 120 | 500 kPa |  |
 PneuGlove / Connelly et al. [20] | E | – | Bend sensor | – | 15 | 5 |  | 68.9 kPa | 2.7 Nm / - |
 Polygerinos et al. [58] | F | – | – | – | 12 | 1 | 160 | 43 kPa | - / 4.42 N |
 Power Assist Glove / Toya et al. [18] | F | – | – | Bend sensors | 15 | 4 | 180 |  |  |
 PowerAssist Glove / Kadowaki et al. [59] | E/F | – | – | sEMG | 15 | – | 135 |  |  |
 RARD / Chua et al. [60] | Abduction/Adduction | – | – | – | 1 | 1 | – |  |  |
F | – | Pressure sensor | – | 15 | 5 | – | 50 kPa |  | |
 Reymundo et al. [65] | E | – | – | – | 3 | 1 | – | 50 kPa |  |
 Tarvainen et al. [66] | F | – | – | – | 3 | 2 | – |  |  |
 Wang et al. [67] | E/F | – | – | – | 15 | 5 | – | 675 kPa | - / 21.24 N |
 Wang et al. [68] | F | – | – | – | 3 | 1 | – | 350 kPa |  |
F | Y | – | sEMG | 15 | 5 | 170 | 120 kPa | - / 6.5 N | |
F | – | – | – | 12 | 1 | 200 |  |  | |
E/F | Y | – | – | 15 | 5 | 180 | 120 kPa | - / 8.4 N | |
 Yap et al. [74] | E | Y | – | – | 15 | 5 | 150 | 100 kPa | 4.25 Nm / - |
 Yap et al. [75] | F | – | – | – | 3 | 1 | – | 200 kPa |  |
 Yeo et al. [76] | F | – | Strain sensor | – | 3 | 1 | – | 110 kPa |  |
 Zaid et al. [77] | F | – | – | – | 6 | 2 | – |  |  |
 Zhang et al. [78] | F | – | – | – | 3 | 1 | – |  |  |
Hydraulic systems | |||||||||
F | Y | Emergency button | sEMG | 15 | 5 | 285 | 413Â kPa | - / 14.15Â N | |