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Table 6 Overview of the SMA 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, 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]
  1. E = elbow, W = wrist, flex = flexion, ext = extension, dev = deviation, R = rehabilitation