Fig. 3
From: Upper limb soft robotic wearable devices: a systematic review
Results of the electronic search in terms of A intended application scenario of the device, B actuation type, C implemented degrees of freedom, D joints actuated by the device with respect to the actuation type, E technology readiness level with respect to the actuation type, where devices scoring half-levels were grouped with the lowest level, except for category 5/6 which was numerous.