Table 1.

Pugh analysis of available fully wearable RAS concepts categorized by transmission system for out-of-the-lab applications.

Subunits	Transmission	Pneumatic				Hydraulic						Cable-based				Weighting
	Actuation	Tank	Pump			Pump			Motor and cylinder		Body- power	Linear motor		Rotary motor
	Output	PAM	Bellow	Cylinder	SPA	Bellow	Cylinder	SHA	HAM	Cylinder	Cylinder	Winch	Direct	Winch	Direct
Requirement	Maintenance	– –	0	+	0	– –	–	– –	– –	–	0	+	+	+	+	2
	Efficiency	–	0	–	0	+	0	+	+	0	0	–	0	0	+	3
	Power density	– –	–	–	0	+	+ +	+ +	0	+	+	+	+	0	0	1
	Safety	0	+	+	0	0	–	–	- -	–	+	+	+	+	+	2
	Ergonomics	– –	0	– –	0	+	0	+	+	–	0	+	0	+ +	+	3
	Weighted score	−15	1	0	1	3	−2	2	−2	−6	3	5	5	10	10

The weighting and weighted score for the design case with an assistive hand exoskeleton (section 2.3) is shown in italics in the last column and last row, respectively. Each + was counted as 1, and each – was counted as −1.