Table 2.

Sensor-based upper limb exoskeletons in pediatrics.

Device Name	Application Domain	Motorization Solution	Type of Sensor(s)	Targeted Population(s)	Degrees of Freedom	Supported Movement(s)	Company/Reference(s)
Armeo Spring	Rehabilitation	Passive–Springs	Position, Pressure	CP, Other	6	Shoulder–FE, AA, IE Elbow–FE Forearm–PS Wrist–FE	Hocoma [61], Cimolin et al. [62], Peri et al. [63]
ChARMin	Rehabilitation	Active–Electric	Position	CP, Other	6	Shoulder–FE, AA, IE Elbow–FE Forearm–PS Wrist–FE	Keller et al. [13,22,41]
CT-DEA-Based Exoskeleton	Assistance	Active–Soft	Position, Force	N/A	1	Elbow–FE	Behboodi et al. [64]
Hand Exoskeleton	Assistance	Active–Electric	Position	CP	2	Digits–FE	Bianchi et al. [65]
Isolated Orthosis for Thumb Actuation	Rehabilitation	Active–Electric	Position, Bend	CP, Other	2	Thumb–FE, AA	Aubin et al. [66]
MyoPal	Assistance	Active–Electric	EMG, Position	BPP, CP, Other	2	Elbow–FE Thumb and Digits–FE	Myomo [67]
PEXO	Assistance	Active–Electric	EMG, Position	CP, Other	3	Thumb and Digits–FE	Bützer et al. [68]
Soft Exoskeleton	Assistance	Active–Soft	EMG	CP, Other	4	Shoulder–AA Elbow–FE	Kokkoni et al. [69]

Abbreviations: CP: cerebral palsy, DMD: Duchenne muscular dystrophy, AMC: arthrogryposis. SMA: spinal muscular atrophy, BPP: brachial plexus palsy, FE: flexion–extension, AA: abduction–adduction, PS: pronation–supination, IE: internal-external rotation, EMG: electromyography.