Table 4 Functional assessment tools and population details

Soft robotics

Osuagwu et al. 2020 [50]

Therapy

15

I

Ch

\(\uparrow\)

Correia et al. 2020 [53]

Assistance

13

–

Sb/Ch

\(\downarrow\)

Yoo et al. 2019 [67]

Assistance

10

I/C

Ch

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

Cappello et al. 2018 [51]

Assistance

9

–

Sb/Ch

\(\uparrow\)

Zhou et al. 2019 [52]

Assistance

3

–

Ch

\(\bullet\)

\(\bullet\)

Nazari et al. 2021 [65]

Assistance

2

C

Ch

\(\bullet\)

Kang et al. 2018 [55]

Assistance

2

–

–

\(\bullet\)

Randazzo et al. 2018 [68]

Assistance

2

C

Ch

\(\bullet\)

Bützer et al. 2021 [64]

Assistance

1

–

Ch

\(\bullet\)

Tran et al. 2020 [66]

Assistance

1

–

–

\(\bullet\)

\(\bullet\)

Kim et al. 2019 [40]

Assistance

1

–

–

\(\bullet\)

In et al. 2015 [54]

Assistance

1

–

Ch

\(\bullet\)

FES

Harvey et al. 2016 [76]

Therapy

70

I/C

Sb

\(\downarrow\)

\(\downarrow\)

Thorsen et al. 2013 [74]

Assist./Therapy

27

I/C

Ch

\(\uparrow\)

Popovic et al. 2011 [11]

(or Kapadia et al. 2011 [46])

Therapy

21

I

Sb

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

Scott et al. 2018 [48]

Therapy

14

I/C

Ch

\(\bullet\)

Kilgore et al. 2018 [19]

Assistance

13

I/C

Ch

\(\uparrow\)

Kowalczewski et al. 2011 [78]

Therapy

13

I/C

Ch

\(\uparrow\)

Kapadia et al. 2013 [62]

Therapy

8

I

Ch

\(\bullet\)

\(\bullet\)

\(\bullet\)

\(\bullet\)

Jovanovic et al. 2021 [63]

Therapy

5

I

Sb

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

Trincado-Alonso et al. 2017 [75]

Therapy

4

I

Sb/Ch

\(\bullet\)

\(\bullet\)

Martin et al. 2012 [77]

Therapy

3

I/C

Ch

\(\uparrow\)

\(\uparrow\)

Fattal et al. 2022 [69]

Assistance

2

C

Ch

\(\bullet\)

Venugopalan et al. 2020 [70]

Assistance

2

C

–

\(\bullet\)

\(\bullet\)

Müller-Putz et al. 2019 [41]

Assistance

2

I/C

Ch

\(\bullet\)

Memberg et al. 2014 [59]

Assistance

2

I/C

Ch

\(\bullet\)

Pedrocchi et al. 2013 [72]

Assistance

2

I

Ch

\(\bullet\)

Cajigas et al. 2021 [49]

Assistance

1

C

Ch

\(\uparrow\)

\(\downarrow\)

Bockbrader et al. 2019 [20]

Assistance

1

C

Ch

\(\downarrow\)

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

\(\uparrow\)

Annetta et al. 2019 [21]

Assistance

1

C

Ch

\(\bullet\)

Heald et al. 2019 [61]

Assistance

1

I

Ch

\(\bullet\)

Colachis et al. 2018 [58]

Assistance

1

C

Ch

\(\uparrow\)

Schwemmer et al. 2018 [57]

Assistance

1

C

Ch

\(\uparrow\)

Ajiboye et al. 2017 [60]

Assistance

1

C

Ch

\(\bullet\)

Bouton et al. 2016 [56]

Assistance

1

C

Ch

\(\uparrow\)

\(\bullet\)

Rohm et al. 2013 [71]

Assistance

1

C

Ch

\(\bullet\)

\(\bullet\)

Gan et al. 2012 [73]

Assistance

1

–

Ch

\(\bullet\)