Table 3.

Overview of the cable-driven devices.

Scenario	DOF	Low-level Control	High-level Control	TRL	Year and Related Works
R	1, S: abd/add	Position	–	4	2012 [58, 89]
R	1, E: flex/ext	-	–	3	2015 [54]
A	3, S: abd/add and flex/ext, E: flex/ext	Position	Mirroring the healthy limb	5	2017 [62]
R/A	7, S: humeral rot, abd/add, flex/ext, E: flex/ext, FA: pron/sup, wrist flex/ext and radial/ulnar dev	Position	Pre-determined joints trajectory	5	2018 [43, 90]
R	3, S: abd/add, flex/ext E: flex/ext	Speed	–	4	2018 [34]
A	1, E: flex/ext	Force	Arm dynamics compensation	4	2018 [60]
R	5, S: humeral rot, abd/add and flex/ext, E: flex/ext, FA: pron/sup	Position	Joystick or mirroring the healthy limb	6/7	2019 [55, 79, 91]
A	1, W: Dart throwing motion	Force	EMG-trigger	5	2019 [48]
A	2, E: flex/ext, FA: pron/sup	Position	–	4	2019 [92]
R	2, S: flex/ext, E: flex/ext	Position	Pre-determined joints trajectory	5	2019 [93]
R	1, E: flex/ext	Torque	Smartphone app. trigger	3	2019 [66]
R	1, E: flex/ext	Admittance	EMG-based neural-network torque estimation	5	2019 [56, 57, 94]
R/A/I	1, E: flex/ext	Admittance	IMU-based gravity compensation or EMG-based torque estimation	5/6	2020 [28–32, 53, 74, 78, 95–101]
I	2: bimanual lifting	Force	EMG trigger	5/6	2020 [73, 102]
I	4, S: elev, E: flex, bilateral	Position	Voice recognition	5/6	2020 [52, 103]
I	1, E: flex/ext	-	–	3	2020 [59]
R	1,W: flex/ext, ulnar/radial dev	Position	Pre-determined joints trajectory	6	2020 [104]
-	2, S: elev, E: flex/ext	Position	Pre-determined joints trajectory	5/6	2020 [61, 105, 106]
A	1, S: elev coupled with hum rot	Admittance	Gravity compensation	5	2020 [33]
R	1, E: flex/ext	Motion	-	4	2020 [107]

S = shoulder, E = elbow, FA = forearm, W = wrist, abd = abduction, add = adduction, flex = flexion, ext = extension, rot = rotation, pron = pronation, sup = supination, dev = deviation, elev = elevation, R = rehabilitation, A = assistance, I = industrial