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. 2022 Aug 10;19:87. doi: 10.1186/s12984-022-01065-9

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© The Author(s) 2022

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated in a credit line to the data.

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Fig. 2 — Examples of soft robotic wearable devices for the upper limb: A passive suit for the assistance of the shoulder elevation from [35], B cable-driven suit for the assistance of the elbow flexion-extension from [60], C shape memory alloy (SMA) suit for the assistance of elbows flexion-extension from [41], D cable-driven suit for the assistance of the elbow flexion-extension from [74] E Pneumatic sleeve for the assistance of the elbow flexion-extension from [24], F SMA glove for the assistance of the wrist flexion-extension and ulnar and radial deviation from [88]. All images are under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (https://creativecommons.org/licenses/by/4.0/).