TABLE 2.

Features for functional performance and subjective evaluation of readiness level for each cluster.

	Functional performance
	Kinematic compatibility	Kinetic (dynamic) adjustability	Balance capabilities	Adaptation to non-standardized settings	Safety	Weight and other
ADR	+/−	− −	−	− −	+	+
Spring-CAM	+/−	+/−	+/−	−	+	+
Clutch	+/−	+	−	+/−	+	++
Elect. Clutch	+	+	−	+/−	+/−	+/−
Rigid transm	+	+	+/−	+/−	−	−
SEA	+	++	+	+	+/−	−
Cable driven	+	+	−	++	+/−	+/−
PAM	+	+/−	+/−	+/−	−	+

Grades are presented following a 5-points scale with (++) as very good, (+) as good, (+/−) as acceptable, (−) as poor and (−) as very poor.