Table 3 Overview of the cable-driven devices.

R

1, S: abd/add

Position

–

4

2012 [58, 89]

R

1, E: flex/ext

-

–

3

2015 [54]

A

3, S: abd/add and flex/ext, E: flex/ext

Position

Mirroring the healthy limb

5

2017 [62]

R/A

7, S: humeral rot, abd/add, flex/ext, E: flex/ext, FA: pron/sup, wrist flex/ext and radial/ulnar dev

Position

Pre-determined joints trajectory

5

2018 [43, 90]

R

3, S: abd/add, flex/ext E: flex/ext

Speed

–

4

2018 [34]

A

1, E: flex/ext

Force

Arm dynamics compensation

4

2018 [60]

R

5, S: humeral rot, abd/add and flex/ext, E: flex/ext, FA: pron/sup

Position

Joystick or mirroring the healthy limb

6/7

2019 [55, 79, 91]

A

1, W: Dart throwing motion

Force

EMG-trigger

5

2019 [48]

A

2, E: flex/ext, FA: pron/sup

Position

–

4

2019 [92]

R

2, S: flex/ext, E: flex/ext

Position

Pre-determined joints trajectory

5

2019 [93]

R

1, E: flex/ext

Torque

Smartphone app. trigger

3

2019 [66]

R

1, E: flex/ext

Admittance

EMG-based neural-network torque estimation

5

2019 [56, 57, 94]

R/A/I

1, E: flex/ext

Admittance

IMU-based gravity compensation or EMG-based torque estimation

5/6

2020 [28,29,30,31,32, 53, 74, 78, 95,96,97,98,99,100,101]

I

2: bimanual lifting

Force

EMG trigger

5/6

2020 [73, 102]

I

4, S: elev, E: flex, bilateral

Position

Voice recognition

5/6

2020 [52, 103]

I

1, E: flex/ext

-

–

3

2020 [59]

R

1,W: flex/ext, ulnar/radial dev

Position

Pre-determined joints trajectory

6

2020 [104]

-

2, S: elev, E: flex/ext

Position

Pre-determined joints trajectory

5/6

2020 [61, 105, 106]

A

1, S: elev coupled with hum rot

Admittance

Gravity compensation

5

2020 [33]

R

1, E: flex/ext

Motion

-

4

2020 [107]