Upper limb soft robotic wearable devices: a systematic review

Table 6 Overview of the SMA devices.

Scenario	DOF	Low-level Control	High-level Control	TRL	Year and Related works
R	1, W: flex/ext	Position-velocity	–	3	2015 [39]
R	1, E: flex/ext	Position	Pre-defined joint trajectory	5	2017 [40]
R	2, W: flex/ext, ulnar/radial dev	Temperature	–	4	2019 [88]
-	1, E: flex/ext	Position	Pre-defined joint trajectory	4	2019 [41]

E = elbow, W = wrist, flex = flexion, ext = extension, dev = deviation, R = rehabilitation

ISSN: 1743-0003