Table 3.
Overview of included dynamic hand orthoses classified as home rehabilitation tool
| Name/ID | Country | Year rangea | ISO abbr. | Reported function | Actuator DOFb | Wrist supportb |
|---|---|---|---|---|---|---|
| Sarakoglou [50] | UK | 2004 | HdO | general physical therapy | 7 | N/A |
| Luo [193, 194] | USA | 2005 | HdO | post-stroke therapy | 1 | N/A |
| Mulas [195] | Italy | 2005 | WHFO | general physical therapy | 2 | Limited (PS, FE, RUD) |
| Haptic Knob [31, 196] | Singapore | 2007 | WHFO | post-stroke therapy | 1 (+1 wrist) | Assisted (PS) Limited (FE, RUD) |
| MRAGES [197] | USA | 2007 | HdO | general physical therapy | 5 | N/A |
| Wege [37, 87, 198–200] | Germany | 2005–2007 | HdO | general physical therapy | 20 | N/A |
| Carpi [201] | Italy | 2008 | WHFO | general impairment compensation | 1 | Locked (FE, RUD) |
| HandCARE [202] | Singapore | 2008 | HdO | post-stroke therapy | 1 | Limited (PS, FE, RUD) |
| Chen [203] | China | 2009 | WHFO | post-stroke therapy | 5 | Locked (FE, FE, RUD) |
| HIRO III [204] | Japan | 2010 | HdO | general physical therapy | 15 | N/A |
| Mohamaddan [205] | Malaysia | 2010 | HdO | post-stroke therapy | 2 | N/A |
| NeReBot hand add-on [60, 206] | Italy | 2009–2010 | WHFO | post-stroke therapy | 1 | Locked (PS, FE, RUD) |
| Burton [207, 208] | UK | 2011–2012 | WHFO | post-stroke therapy | 6 | Limited (FE, RUD) |
| J-Glove [40, 209] | USA | 2009–2011 | WHFO | post-stroke therapy | 1 | Locked (FE, RUD) |
| PRoGS [210] | Singapore | 2010–2011 | WHFO | post-stroke therapy | 5 | N/A |
| SaeboFlex [211, 212] | USA | 2011 | WHFO | post-stroke therapy, hypertonia compensation | 0 | Locked (FE, RUD) |
| Tzemanaki [213] | UK | 2011 | HdO | general therapy | 5 | N/A |
| DULEX-II [45, 214] | South Korea | 2009–2012 | WHFO | post-stroke therapy | 2 (+ 1 wrist) | Assisted (FE) Locked (RUD) |
| ExoFlex [215] | USA | 2012 | HdO | general therapy | 4 | N/A |
| HANDEXOS [98, 216, 217] | Italy | 2009–2012 | FO | post-stroke therapy | 1 | N/A |
| JACE H440 Hand CPM [218] | USA | 2012 | WHFO | general physical therapy | 1 | Locked (PS, FE, RUD) |
| Kazemi [219] | Canada | 2012 | WHFO | post-stroke measurement/therapy | 1 (+1 wrist) | Assisted (PS) |
| Naidu [220, 221] | South Africa | 2011–2012 | WHFO | post-stroke therapy | 2 (+1 wrist) | Assisted (PS) Locked (FE, RUD) |
| Polotto [222] | Canada | 2012 | FO | post-stroke therapy/assistance | 4 | N/A |
| WaveFlex Hand CPM [223–225] | USA | 1997–2012 | WHFO | general physical therapy | 1 | Locked (FE, RUD) |
| Wu [71, 75, 226–229] | China | 2008–2012 | WHFO | post-stroke therapy | 2 | Limited (PS) Locked (FE, RUD) |
| CAFEx [230] | Malaysia | 2013 | HdO | post-stroke therapy | 1 | N/A |
| Gloreha Lite [231, 232] | Italy | 2013 | HdO | general physical therapy | 5 | N/A |
| Hand of Hope [105, 233–236] | China | 2010–2013 | HdO | post-stroke therapy | 5 | N/A |
| mRes [95] | Germany | 2013 | HdO | post-stroke therapy | 4 | N/A |
| Orlando [237, 238] | India | 2010–2013 | FO | post-stroke therpapy | 3 | N/A |
| Rahman [239, 240] | Australia | 2012–2013 | WHFO | post-stroke therapy | 5 | N/A |
| Shafi [241] | Pakistan | 2013 | HdO | general physical therapy | 4 | N/A |
| Song [242] | Taiwan | 2013 | HdO | post-stroke therapy/assistance | 3 | Limited (FE) |
| UoA hand exoskeleton [61, 74] | Australia | 2012–2013 | WHFO | post-stroke therapy | 11 | Limited (PS, FE, RUD) |
| BiomHED [97, 243, 244] | USA | 2014 | WHFO | post-stroke therapy | 7 | Limited (PS) Locked (FE, RUD) |
| Coffey [245] | Ireland | 2014 | WHFO | post-stroke therapy | 1 | Limited (PS, RUD) Assisted (FE) |
| Guo [246] | China | 2014 | FO | post-stroke therapy | 1 | N/A |
| HEXOSYS-I [86, 247, 248] | Italy | 2010–2014 | HdO | general physical therapy | 2 | N/A |
| IOTA [249] | USA | 2014 | WHFO | pediatric rehabilitation | 2 | N/A |
| Maestra [250, 251] | France | 2014 | WHFO | general physical therapy | 1 | Assisted (PS, FE, RUD) |
| Maestra Portable [250, 251] | France | 2014 | WHFO | general physical therapy | 1 | Locked (FE, RUD) |
| PAFEx [38, 252] | Japan | 2009–2014 | HdO | post-stroke therapy | 3 | N/A |
| Pu [253, 254] | Taiwan | 2014–2015 | WHFO | general physical therapy | 4 | Locked (FE, RUD) |
| ReHand-II [255, 256] | China | 2014 | HdO | post-stroke therapy | 2 | N/A |
| ReHapticKnob [257–259] | Switzerland | 2011–2014 | WHFO | post-stroke measurement/therapy | 1 (+1 wrist) | Assisted (PS) |
| SPO [32, 260, 261] | Netherlands | 2013–2014 | WHFO | post-stroke therapy | 0 | Resisted (F), Assisted (E) Locked (RUD) |
| Tang 2 [81, 262] | China | 2013–2014 | HdO | general physical therapy | 10 | N/A |
| ULERD hand module [263, 264] | China | 2013–2014 | WHFO | post-stroke therapy | 1 (+2 wrist) | Assisted (PS, FE) Locked (RUD) |
| Ab Patar [265, 266] | Japan | 2015 | HdO | post-stroke therapy | 3 | N/A |
| HEXOSYS-II [267–270] | Italy | 2010–2015 | WHFO | general physical therapy | 5 | Limited (FE, RUD) |
| HX [96, 271–274] | Italy | 2013–2015 | WHFO | general physical therapy | 2 | Locked (RUD) |
| NESS H200 [275, 276] | USA | 1996–2015 | WHFO | general physical therapy | Not clear | Not clear |
| Ramirez [277] | Mexico | 2015 | WHFO | general physical therapy | 6 | Limited (PS) Locked (FE, RUD) |
| Richards [278] | UK | 2015 | HdO | post-stroke rehabilitation | 2 (+1 palm) | N/A |
| SAO-i3 [279, 280] | Netherlands | 2014–2015 | WHFO | post-stroke therapy | 1 | Assisted (FE, RUD) |
aYear ranges are determined by the year span between found literature sources and my differ from the actual time of development
bActuator DOF = number of individually controlled actuators (zero means fully passive)
cWrist can be assisted, resisted, limited or locked [29] in pronation/supination (PS), flexion/extension (FE) and radial/ulnar deviation (RUD)