Table 3:
Summary of devices analyzed.
| Device name | Reference | Weight of Device on Arm (g) | DoF | Power Transmission | Mechanical Transmission | Hand/Wrist | User Intent |
|---|---|---|---|---|---|---|---|
| 2-channel portable battery47operated FES system | 47 | – | 3 | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| 3-CRP | 48 | 2700 | 3 | DC motors | Direct | Hand and wrist | Concurrent movement |
| 4-DOF wheelchair exoskeleton and Carbon hand | 49 | 4000 | 4 | Maxon DC motor | Cable and gear | Hand and wrist | Joint position and tactile |
| A5 hand function training system | 42 | – | 6 | Linear actuator | Bar linkage | Hand and wrist | Muscle torque |
| Anthropomimetic upper limb assistive device | 35 | – | 12 | DC motors | Pulley | Hand and wrist | Manual selection |
| Armeo Power II | 50 | 205000* | 7 | Motors | Gears | Wrist | Joint torque |
| Attention-controlled wrist rehabilitation method | 51 | 415 | 2 | Linear actuator | Push-pull cable | Wrist | EEG signal |
| BOTAS | 52 | – | 6 | Electrical stimulation | Direct | Hand and wrist | EMG signal and EEG signal |
| BRIDGE EMPATIA | 53 | – | 5 | Stepper motor | Bar linkage | Wrist | Manual selection (joystick) |
| DiaDENS-PKM | 54 | 350 | – | Electrical stimulation | Muscle contraction | Wrist | EMG signal |
| Distributed FES and Assessment System | 55 | – | 2 | Electrical stimulation | Muscle contraction | Hand and wrist | Concurrent EMG signal and finger angle |
| DTF Splint | 56 | – | 1 | Pneumatic actuator | Pneumatic | Hand | Manual selection |
| DTSaM Orthosis | 57 | – | 2 | Pneumatic actuator | Pneumatic | Wrist | Joint angle |
| DULEX-II | 58 | 504 | 3 | pneumatic and linear actuator | Pneumatic | Hand and wrist | concurrent EMG |
| Electrical stimulation | 59 | – | – | Electrical stimulation | Muscle contraction | Wrist | Manual selection |
| Electromechanical orthosis and MyoSystem BrI system | 60 | – | 2 | DC motors | Pulley | Hand and wrist | EMG |
| EMG-driven exoneuromusculoskeleton | 61 | 368 | – | Pneumatic actuator | Pneumatic | Hand | Muscle torque |
| EMG-driven NMES-robotic arm | 62 | – | – | DC servo motors | Direct | Wrist | EMG signal |
| EMG-Driven NMES-Robotic Hand | 63 | – | 4 | Linear actuator | Bar linkage | Hand | EMG |
| EMG-driven WH-ENMS | 64 | – | 5 | Pneumatic actuator | Pneumatic | Hand and wrist | EMG |
| Emotiv EPOC and Rehastim | 65 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EEG signal |
| Empi FOCUS | 66 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | Manual selection |
| EMS 400 and Ultraflex | 40 | – | 2 | Eletrical stimulation | Muscle contraction | Wrist | Manual selection |
| Energy-efficient wrist exoskeleton | 67 | – | 1 | Pneumatic actuator | Pneumatic | Wrist | Joint angle |
| ETS-MARSE | 68 | 7072 | 7 | Brushless DC motors | Gears | Wrist | Muscle torque |
| eWrist | 69 | 556 | 1 | Brushless DC motors | Gears | Wrist | Joint angle and EMG signal |
| ExoFinger | 70 | – | 2 | DC servo motors | Bar linkage | Hand | EMG signal, Finger temperature and Joint angle |
| EXOTIC upper limb exoskeleton and ITCI and Carbon hand | 71 | 6000 | 4 | Maxon DC motor | Cable and gear | Hand and wrist | Manual tongue |
| Exo-Wrist | 72 | 1003 | 2 | Rotary encoder | Pulley | Wrist | Muscle torque |
| EXTEND exoskeleton | 73 | 105 | 3 | Linear actuator | Bowden cable | Hand | Manual selection |
| Fesia grasp Device | 74 | 91 | 8 | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| FESMATE CE1230 | 75 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG |
| FESMED 4050 device | 76 | 200 | – | Electrical stimulation | Muscle contraction | Hand and wrist | Manual selection |
| Five-digit 3D printed battery-powered and force augmenting orthotic exoskeleton | 77 | – | – | Linear actuator | Cable | Hand | Muscle torque |
| Five-fingered exoskeleton hand | 78,79 | 2000 | 3 | DC motors | Bar linkage | Hand and wrist | EMG and wrist joint angle |
| Flexohand | 80 | 280 | 6 | DC servo motors | Bowden cable | Hand | Manual selection |
| Foot-controlled hand/forearm exoskeleton | 81 | – | 4 | DC servo motors | Pulley | Hand and wrist | Manual Foot selection |
| GBBAs | 82 | 95 | 3 | Pneumatic actuator | Pneumatic | Hand | Joint angle and muscle torque |
| Gloreha lite glove | 83 | 80 | 5 | Pneumatic actuator | Pneumatic | Hand | Manualselection |
| Glove-based assistive device | 84 | – | 2 | Pneumatic actuator | Pneumatic | Wrist | Wrist movement |
| GraspyGlove | 85 | 340 | 4 | Maxon DC motor | Push-pull cable | Hand | Sensor proximity |
| Hand assistive device | 86 | – | 1 | Linear actuator | Bowden cable | Hand | Muscle torque (index) |
| Hand exoskeleton | 87 | 114 | 3 | DC motors | Bowden cable | Hand | Joint angle and muscle torque |
| Hand exoskeleton system HES | 88 | 350 | 2 | DC servo motors | Bar linkage | Hand | Manual hand |
| Hand function rehabilitation robot | 89 | 450 | 2 | Linear actuator | Bar linkage | Hand | Manual hand (touch screen) |
| Hand/Wrist exoskeleton | 90 | 1815 | 7 | DC Torque motor | Bar linkage | Hand | EMG and joint motion |
| HANDS therapy | 91,92 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| Hybrid system | 93 | 402 | 5 | Linear actuator | Bar linkage | Hand | EMG signal and EEG signal |
| Hybrid-driven compliant hand exoskeleton | 94 | 147 | – | DC Torque motor | Cable | Hand | Finger torque |
| Implanted sensor-controlled microstimulator system | 95 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| INTFES | 96 | 170 | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| intracortical MEA-BCI-FES | 97 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EEG signal (Implant) |
| IOTA | 98 | 230 | 2 | DC servo motors | Cable | Hand | Manual hand |
| Layer jamming-based soft Tremor Suppression Glove | 34 | 30 | 6 | DC servo motors | Hydraulic | Hand | Tremor |
| MAH system | 99 | 580 | 6 | DC servo motors | Supernumerary | Hand | Wrist angle |
| MAHI Exo-II | 100,101 | 340 | 4 | DC motors | Bar linkage | Wrist | Manual selection |
| MeCFES | 102 | – | 2 | Electrical stimulation | Muscle contraction | Hand | EMG wrist |
| MeFES | 103 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| Mirror hand HS 001 | 104 | 800 | 5 | Motors | Bar linkage | Hand | Mirrored motion |
| Mirror-image motion device with an exoskeleton | 105 | 1800 | 3 | Brushless DC motors | Cable | Wrist | Mirroredmotion |
| Motor orthotic device | 106 | – | 1 | Ultrasonic motor | Gears | Wrist | EMG signal |
| MWDO | 107 | 330 | 2 | DC motors | Bar linkage | Hand and wrist | Wrist torque |
| Myoelectric control | 108 | – | 2 | Electrical stimulation | Muscle contraction | Wrist | EMG |
| MyoPro | 109–112 | 1814 | 2 | Motors | Direct | Hand and wrist | EMG signal |
| NESM and 5-DOF wrist-hand exoskeleton | 113 | – | 9 | DC motors | Bar linkage | Hand and wrist | Joint position |
| NESS handmaster system | 114–116 | – | – | Electrical stimulation | Muscle contraction | Hand | Manualselection |
| Neuro-orthosis | 117,118 | – | 2 | Electrical stimulation | Muscle contraction | Wrist | Joint angle |
| NMES-robot arm | 119 | 895 | 2 | DC Torque motor | Muscle contraction and direct | Wrist | EMG signal and NMES signal |
| Odstock 2-channel Programmable Stimulator | 120 | 200 | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| Paediatric hand exoskeleton PEXO | 45 | 107 | 1 | Linear actuator | Cable | Hand and wrist | Manual hand OR hands-free voice control based on keyword detection |
| Pinch assistant | 121 | 580 | 5 | DC servo motors | Pulley | Hand | Index andthumb torque |
| Pinotti portable robotic exoskeleton PPRE | 122 | 1600 | 2 | DC motors | Gears | Hand and wrist | Manual hand |
| PneuGlove | 123 | – | 2 | Pneumatic actuator | Pneumatic | Hand | Joint angle |
| Pneumatic-controlled finger extension system | 43 | 2000* | 1 | Pneumatic actuator | Pneumatic | Hand | EEG signal |
| Power augmentation soft glove | 124 | 120 | 4 | Pneumatic actuator | McKibben | Joint torque (index) | |
| Power-assisted FES | 125 | – | 3 | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| REHA 2030 | 126 | – | 1 | DC motors | Bar linkage | Wrist | Wrist angle and velocity |
| ReIn-hand system (Empi 300 and EMG collection unit) | 127,128 | 227 | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| RELab tenoexo | 129,130 | 148 | 3 | Maxon DC motor | Bowden cable | Hand | Finger torqueand bend |
| ReoGo-J | 38 | 79000* | 3 | Motors | Direct | Wrist | Manual selection |
| Rope-driven flexible robot | 131 | – | – | Linear actuator | Pulley | Hand | Manual selection (touch screen) |
| RUPERT IV | 132,133 | – | 5 | Pneumatic actuator | Pneumatic | Wrist | Joint positionand tactile |
| SaeboFlex and BMR Neurotech electrical stimulator unit | 134 | 1587 | 5 | Electrical stimulation | Muscle contraction | Hand and wrist | Muscle torque |
| SaeboMAS and accelerometer-triggered FES | 135 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | Joint position |
| SCRIPT Active orthosis SAO-i3 | 136 | – | 3 | DC motors | Bar linkage | Hand and wrist | Joint angle |
| SCRIPT1 Project | 137 | – | – | Elastic torque | Pulley | Hand and wrist | Wrist motion and muscle torque |
| SEM Glove | 138 | 700 | 3 | Brushless DC motors | Bowden cable | Hand | Fingertip tactile |
| Semi-soft assistive glove SAG | 139 | – | 2 | DC motors | Cable | Hand | Wrist motion and EMG |
| SETS system | 41 | 255 | 3 | Flexible semiactive actuator | Direct | Wrist | Tremor |
| SMA muscle | 140 | 300 | 2 | SMA | Hydraulic | Wrist | Manual selection |
| SNU Exo-glove | 141 | – | 3 | Brushless DC motors | Cable | Hand | Joint velocityand joint tensile |
| Soft glove | 142 | 237 | 6 | Pneumatic actuator | Pneumatic | Hand andwrist | Manual selection |
| Soft modular elbow-wrist rehabilitation exoskeleton driven by PAMs | 143 | – | 2 | Pneumatic actuator | Pneumatic | Wrist | Joint position |
| Soft robotic rehabilitation glove | 144 | – | – | Pneumatic actuator | Pneumatic | Hand | Manualselection |
| Soft sixth finger | 145,146 | 140 | 1 | DC servo motors | Supernumerary | Hand | EMG |
| SoftHand X system | 147 | 500 | – | Maxon DC motor | Supernumerary | Wrist | Joint angle (finger) |
| SR Fingers | 148 | 750 | 6 | DC servo motors | Supernumerary | Hand | Hand position |
| SSVEP-BCI controlled soft robotic glove rehabilitation system | 149 | – | 2 | Pneumatic actuator | Pneumatic | Hand | EEG signal |
| Super stim ZZAEV906 | 46 | – | 3 | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| Supernumerary robotic finger SRF | 44 | 650 | 6 | DC servo motors | Supernumerary | Hand | Joint angle |
| TCAMs-Exo | 150 | 135 | 2 | DC motors | Artificial muscle | Wrist | EMG and wrist joint angle |
| tDCS | 151 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG signal |
| TDS-HM the hand mentor and tongue drive system | 152 | – | 2 | Pneumatic actuator | Pneumatic | Hand andwrist | Tongue position |
| TENS Stimulator N604 | 153 | – | – | Electrical stimulation | Muscle contraction | Hand and wrist | EMG |
| T-GRIP exoskeleton | 154 | 50 | 1 | Linear actuator | Bar linkage | Hand | Joint angle (wrist) |
| The Bionic glove | 155 | – | – | Electrical stimulation | Muscle contraction | Hand | Wrist position |
| The Hand exoskeleton | 156 | 1800 | 15 | Linear actuator | Push-pull cable | Hand | Mirrored motion |
| TIGER | 157,158 | 420 | 2 | Brushless DC motors | Bar linkage | Hand andwrist | Manual hand (touch screen) |
| Upper limb rehabilitation robot | 159 | – | 6 | DC Motors | Gears | Wrist | Manual selection |
| Utah microelectrode array and NMES | 160 | – | 6 | Electrical stimulation | Muscle contraction | Hand and wrist | EEG signal |
| WDFHO | 161 | – | 1 | Linear actuator | Gears | Hand | Joint angle (wrist) |
| Wearable glove with incorporated compliant mechanical transmission | 162 | – | 2 | Pneumatic actuator | Pneumatic | Hand | Manual selection (touch screen) |
| Wearable mechanism to suppress axial vibration | 36 | 268 | 3 | DC motors | Direct | Wrist | Tremor |
| WearME Glove | 163 | 500 | 3 | Brushless DC motors | Pulley | Hand and wrist | Joint angle |
| W-EXOS | 164 | 1900 | 3 | DC motors | Gears | Wrist | Muscle torque and EMG signal |
| WHOs | 165 | – | 1 | Motors | Bar linkage | Hand | Joint angle (wrist) |
| Wireless distributed FES system | 166 | 45 | – | Electrical stimulation | Muscle contraction | Hand | EMG and joint movement |
| Wireless wearable device | 167 | – | 2 | Electrical stimulation | Muscle contraction | Hand and wrist | Joint position and movement (wrist) |
| Wrist exoskeleton | 168 | 288 | 2 | Linear actuator | Push-pull cable | Wrist | Manual selection |
| Wrist exoskeleton | 169 | 728 | 1 | DC motors | Gears | Wrist | Mirrored motion |
| X-Glove | 170 | – | 5 | Linear actuator | Cable | Hand | Manual selection |