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Overview of the passive devices.
| Scenario | DOF | Low-level Control | High-level Control | TRL | Year and Related Works |
|---|---|---|---|---|---|
| I | 1, S: elev | – | – | 6 | 2017 [35] |
| I | 1, Weight lifting support | – | – | 4 | 2018 [36] |
| A | 1, E: flex/ext | – | – | 5 | 2019 [38] |
| A | 1, S: elev | - | – | 4 | 2020 [37] |
S = shoulder, E = elbow, flex = flexion, ext = extension, elev = elevation, A = assistance, I = industrial
