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Table 2 TRL definition.

From: Upper limb soft robotic wearable devices: a systematic review

TRL Definition Explanation
1 Basic principle observed The idea has been formulated
2 Technology concept formulated The concept and the application have been formulated
3 Experimental proof of concept The first prototype has been built but not tested
4 Technology validated in lab The prototype has been tested in laboratory on a mannequin
5 Technology validated in relevant environment The prototype is mature in terms of design and control and has been tested on healthy subjects
6 Technology demonstrated in relevant environment The prototype has been tested for its efficacy on subjects with motor disability or healthy subjects according to the intended scenario
7 System prototype demonstration in operational environment The system has been tested for its intended purpose in the clinic, at home, in the factory, in sport fields
8 System complete and qualified The system is ready to be produced in large scale
9 Actual system proven in operational environment The system is available in the market