Fig. 2

Examples of soft robotic wearable devices for the upper limb: A passive suit for the assistance of the shoulder elevation from [35], B cable-driven suit for the assistance of the elbow flexion-extension from [60], C shape memory alloy (SMA) suit for the assistance of elbows flexion-extension from [41], D cable-driven suit for the assistance of the elbow flexion-extension from [74] E Pneumatic sleeve for the assistance of the elbow flexion-extension from [24], F SMA glove for the assistance of the wrist flexion-extension and ulnar and radial deviation from [88]. All images are under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (https://creativecommons.org/licenses/by/4.0/).