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Table 4 Overview of the passive devices.

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

Scenario DOF Low-level Control High-level Control TRL Year and Related Works
I 1, S: elev 6 2017 [35]
I 1, Weight lifting support 4 2018 [36]
A 1, E: flex/ext 5 2019 [38]
A 1, S: elev - 4 2020 [37]
  1. S = shoulder, E = elbow, flex = flexion, ext = extension, elev = elevation, A = assistance, I = industrial