Table 1.
Exoskeletons for upper-limb rehabilitation (3-DoF systems controlling at least two joints out of the shoulder-elbow–wrist chain).
| Project name | First reference | DoF |
Experiment with patients | |||
|---|---|---|---|---|---|---|
| a | p | Type | pHRI | |||
| SUPPORTED MOTION OF SHOULDER–ELBOW–WRIST | ||||||
| ARAMIS | Colizzi et al. (2009) | 6 | 0 | e | 2-sfh | Pignolo et al. (2012) – c |
| ARMinIV | Nef et al. (2007) | 7 | 0 | e | ufh | Klamroth-Marganska et al. (2014) – c |
| ArmeoPower©a | Riener et al. (2011) | 6 | 0 | e | ufh | (Used in several hospitals) |
| ARMOR | Mayr et al. (2008) | 8 | 4 | e | 2-ufuh | Mayr et al. (2008) – p |
| BONES + SUE | Klein et al. (2008) | 6 | 0 | p | ufh | Milot et al. (2013) – c |
| CADEN-7 | Perry and Rosen (2006) | 7 | 0 | e | ufh | |
| ETS-MARSE | Rahman et al. (2010) | 7 | 0 | e | ufh | |
| EXO-UL7b | Yu et al. (2011) | 7 | 0 | e | 2-ufh | Simkins et al. (2013) – c |
| IntelliArm | Zhang et al. (2007) | 7 | 2 | e | ufh | Ren et al. (2013) – p |
| NTUH-ARM | Tsai et al. (2010) | 7 | 2 | e | ufh | |
| Rupert IV | He et al. (2005) | 5 | 0 | p | sufh | Zhang et al. (2011) – p |
| SRE | Tsagarakis and Caldwell (2003) | 7 | 0 | p | fh | |
| SUEFUL 7 | Gopura et al. (2009) | 7 | 1 | e | uffh | |
| SUPPORTED MOTION OF SHOULDER–ELBOW | ||||||
| – | Moubarak et al. (2009) | 4 | 0 | e | uf | |
| ABLE | Garrec et al. (2008) | 4 | 0 | e | uf | Crocher et al. (2012) – p |
| CAREX | Brackbill et al. (2009) | 5 | 0 | e | suf | |
| L-Exos | Frisoli et al. (2005) | 4 | 1 | e | ufh | Frisoli et al. (2009) – p |
| LIMPACT | Stienen et al. (2008) | 4 | 6 | h | uuff | |
| MEDARM | Ball et al. (2007) | 6 | 0 | e | uf | |
| MGA | Carignan et al. (2005) | 5 | 1 | e | uh | |
| MULOS | Johnson et al. (2001) | 5 | 0 | e | uff | |
| Pneu-WREX | Sanchez et al. (2005) | 4 | 0 | p | ufh | Reinkensmeyer et al. (2012) – c |
| RehabExos | Vertechy et al. (2009) | 4 | 1 | e | ufh | |
| SUPPORTED MOTION OF ELBOW–WRIST | ||||||
| MAHI EXO-II | Gupta and O’Malley (2006) | 5 | 0 | e | ufh | (Ongoing) – c |
| MAS | Ding et al. (2008) | 4 | 0 | p | ufh | |
| ULERD | Song et al. (2014) | 3 | 4 | e | ufh | |
| MULTI-CONTACT MULTI-ROBOT SYSTEMS | ||||||
| – | Morales et al. (2011) | 6 | 0 | p | uh | |
| iPAM | Culmer et al. (2005) | 6 | 0 | p | uf | Culmer et al. (2011) – p |
| NeReBot | Rosati et al. (2005) | 5 | 0 | e | fh | Masiero et al. (2013) – c |
| Reharob | Toth et al. (2004) | 12c | 0 | e | uf | Fazekas et al. (2007) – c |
Number of degrees of freedom (DoF): a, active thus actuated; p, passive thus mechanical only. Type refers to the actuation system: e, electrical; p, pneumatic; h, hydraulic. Physical Human-Robot Interface (fixation levels): 2-two arm exoskeleton, s, shoulder; u, upper arm; f, forearm; h, handle. Double letters indicates double interfaces. Experiments: c, clinical; p, pre-clinical test. The last four projects are not strictly exoskeletons but rather multi-contact multi-robot systems.
aBased on ARMinII, the only commercialized exoskeleton for the clinical environment.
bBased on CADEN-7.
cTwo 6-DoF industrial serial manipulators.