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Overview of the SMA devices.
| Scenario | DOF | Low-level Control | High-level Control | TRL | Year and Related works |
|---|---|---|---|---|---|
| R | 1, W: flex/ext | Position-velocity | – | 3 | 2015 [39] |
| R | 1, E: flex/ext | Position | Pre-defined joint trajectory | 5 | 2017 [40] |
| R | 2, W: flex/ext, ulnar/radial dev | Temperature | – | 4 | 2019 [88] |
| - | 1, E: flex/ext | Position | Pre-defined joint trajectory | 4 | 2019 [41] |
E = elbow, W = wrist, flex = flexion, ext = extension, dev = deviation, R = rehabilitation
