Table 1 Orthoses prototypes for tremor suppression. Information not provided is marked with “?”

1

Voluntary Driven Orthosis

Hernstadt [38,39,40]

active

Direct drive motor [38,39,40]

3 Nm [38,39,40]

99.8 (PSD) [39, 40]

0.15% (magnitude change) [39]

test bench (1 ET/PD dataset) [38,39,40]

1/1 (EFE) [38,39,40]

0.875 / 0.334 [39]

2

EMG Exoskeleton

Fujie [41,42,43,44]

active

Direct drive motor [41,42,43,44]

?

?

10.5% (not recognised movement) [42]

?

1/1 (EFE) [41,42,43,44]

0.330 /? [42,43,44]

3

EMG Exoskeleton v2Fujie [45, 46]

active

Direct drive motor [45, 46]

1.3 Nm [45]

50–80 (AA) [45, 46]

no voluntary movement detection yet [45, 46]

1 tremor subject (ET) [45, 46]

1/4 (EFE) [45, 46]

0.410 /? [45]

4

WOTAS Pons/Rocon [28, 47,48,49,50,51,52,53,54,55]

active

Direct drive motor [28, 47,48,49,50,51,52,53,54,55]

8 Nm [53, 54]

40 (PSD) [28, 47, 49, 52, 54, 56]

80 mNm (resistance torque) [53, 54]

10 tremor subjects (ET, PD, MS, post-traumatic, and mixed tremor) [47, 51, 53, 54]

3/4 (No WD) [28, 47,48,49,50,51,52,53,54,55,56]

0.850 / 0.165 [51, 55, 54, 56]

5

ADL Exoskeleton

Imperial College [57]

active

Direct drive motor [57]

2.6 Nm [57]

77 (AA) [57]

?

6 healthy subjects (simulating tremor) [57]

2/3 (WFE, FPS, no WD) [57]

0.350 / 0.072 [57]

6

MMS Tendon Glove

Western University [58]

active

Tendon [58]

16.2 N [58]

?

12.4% (not recognised movement) [58]

test bench (7 PD datasets) [58]

1/1 (WFE) [58]

? / 0.229 [58]

7

PMLM

Zamanian/Richer [59]

active

Linear motor [59]

400 N/(m/s) & 67 N [59]

97.6 (PSD) [59]

0.36 N (resistance force) [59]

test bench (PD datasets) [59]

4/4 (all) [59]

? / 0.315 [59]

8

Pneumatic Actuator

Taheri/Richer [60,61,62,63,64]

active

Pneumatic piston-coil [60,61,62,63,64]

15 N [64]

98.8 (PSD) [60, 62, 64]

4.8% (magnitude change) [64]

test bench (10 PD&ET datasets) [62, 64]

4/4 (all) [60,61,62,63,64]

? / 0.378 [60,61,62,63,64]

9

MR Damper

Case/Richer [65,66,67,68,69,70]

semi-active

Magnetorheological piston-coil [65,66,67,68,69,70]

8.9–187 N/(m/s) [65,66,67,68,69,70]

96.33 (PSD) [67]

4.47 N (resistance force) [67]

test bench (10 PD&ET datasets) [67]

4/4 (all) [66,67,68,69,70]

? / 0.204 [65,66,67,68,69,70]

10

EB Orthosis

Hernstadt [71]

semi-active

Electromagnetic friction brake [71]

2.2 Nm [71]

88 (PSD) [70]

? (probably none)

3 healthy subjects (simulating tremor) [71]

1/1 (EFE) [71]

0.942 / 0.150 [71]

11

Pneumatic Hand Cuff

PSG College of Tech. [72]

semi-active

Pneumatic cuff [72]

?

30 (AA) [72]

Yes [72]

1 tremor subject (ET) [72]

2/2 (WFE, WD) [72]

? /?

12

DVB Orthosis

Loureiro/Pons [73]

semi-active

Viscous shear resistance [73]

6.5 -25,000 N/(m/s) [73]

98 (PSD) [72]

14.13% (magnitude change) [73]

1 tremor subject (ET) [73]

2/2 (WFE, WD) [73]

? / 0.200 [73]

13

The Viscous Beam

Kotovsky/Rosen [74]

passive

Viscous shear resistance [74]

0.002 Nm/(deg/s) [74]

?

Yes [74]

5 tremor subjects [74]

1/2 (WFE, no WD) [74]

0.265 /? [74]

14

Air Dashpot Orthosis Takanokura et al. [74]

passive

Pneumatic piston-coil [74]

1800 N/(m/s) [74]

80 (RMS.) [74]

Yes [74]

1 healthy subject (electrical stimulation) [74]

3/4 (no FPS) [74]

? / 0.037 [74]

15

Vib-Bracelet Israel Institute of Tech. [75]

passive

Tuned mass (spring + mass) [75]

?

86 (AD) [75]

?

test bench [75]

1/1 (FPS) [75]

0.280 /? [75]

16

Damping Orthosis Israel Institute of Tech. [76]

passive

Rotary damper [76]

0.002 Nm/(deg/s) [76]

?

Yes [76]

1 tremor subject (PD) [76]

1/2 (WFE, no WD) [76]

0.200 /? [76]