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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
 Exo-Glove / In et al. [30,31,32] 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   
 IronHand / Radder et al. [35,36,37] F Y Pressure sensors 9 70   
 Nycz et al. [38, 39] 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
 VAEDA Glove / Theilbar et al. [42,43,44,45] E Y Verbal command sEMG + Voice 15 1 225   
 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  
 MR Glove / Yap et al. [12, 55] 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   
 REHAB Glove / Hagshenas-Jaryani et al. [61,62,63,64] 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  
 Yap et al. [69, 70] F Y sEMG 15 5 170 120 kPa - / 6.5 N
 Yap et al. [15, 71] F 12 1 200   
 Yap et al. [72, 73] 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
 Polygerinos et al. [22, 79, 80] F Y Emergency button sEMG 15 5 285 413 kPa - / 14.15 N
  1. E extension, F flexion, ‘-‘value not reported