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Table 3 Overview of the cable-driven devices.

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

Scenario DOF Low-level Control High-level Control TRL Year and Related Works
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]
  1. S = shoulder, E = elbow, FA = forearm, W = wrist, abd = abduction, add = adduction, flex = flexion, ext = extension, rot = rotation, pron = pronation, sup = supination, dev = deviation, elev = elevation, R = rehabilitation, A = assistance, I = industrial