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Table 7 Overview of the spring-blades and hybrid 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 2, W: flex/ext, ulnar/radial dev Motion Buttons-triggered 4 2018 [42]
R 2, W: flex/ext, radial/ulnar dev Position EEG-based attention trigger 5 2019 [72]
A 2, S: flex/ext, E: flex/ext Position Reed switches trigger forward and backward driving 5 2015 [46, 47]
I 1, S: elev Pressure 4 2019 [44]
R 2, E: flex/ext, W: flex/ext Pulse-width (NMES), pressure EMG trigger 5/6 2020 [45]
  1. S = shoulder, E = elbow, W = wrist, flex = flexion, ext = extension, dev = deviation, elev = elevation, R = rehabilitation, A= assistance, I = industrial