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

Fig. 3.

Fig. 3

Results of the electronic search in terms of A intended application scenario of the device, B actuation type, C implemented degrees of freedom, D joints actuated by the device with respect to the actuation type, E technology readiness level with respect to the actuation type, where devices scoring half-levels were grouped with the lowest level, except for category 5/6 which was numerous.