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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