Table 1 Robotic devices for upper limb rehabilitation
From: A survey on robotic devices for upper limb rehabilitation
System name,references | DOF | Supported movements | Main control inputs | Actuators | Type; field of application | Stage of development; additional information |
|---|---|---|---|---|---|---|
Systems assisting shoulder movements | ||||||
Kiguchi [114] | 2 | Shoulder – FE, AA | sEMG | DC motors (x2) | Stationary system (exoskeleton-based); power assistance | C0 study: 1 hs |
Systems assisting elbow movements | ||||||
Cheng [9] | 1 | Elbow – FE | sEMG | DC motor | Stationary system; physical therapy | CI study: 5 stroke + 5 hs |
Cozens [10] | 1 | Elbow – FE | Joint angle | Electric servo-motor | Stationary system; physical therapy | CI study: 10 stroke + MS |
Kiguchi [170] | 1 | Elbow – FE | sEMG | DC motor | Stationary system (exoskeleton-based); physical therapy | C0 study: 2 hs |
MARIONET, Sulzer [142] | 1 | Elbow – FE | Joint angle | AC servomotor (SEA) | Stationary system (end-effector-based); physical therapy | C0 study: 6 hs |
Mavroidis [11] | 1 | Elbow – FE | Force/torque | DC motor | Portable orthosis (continuous passive motion device); physical therapy | Prototype |
MEM-MRB, Oda [104] | [1] | [Elbow – flexion] | Joint angular velocity, torque | MRF brake | Stationary system; physical therapy | C0 study: 1 hs |
Myomo e100, Myomo, Inc.; Stein [172] | 1 | Elbow – FE | sEMG | DC motor (x1) | Portable orthosis; physical therapy | Commercial system (FDA clearance); CI study: 8 cS |
Ögce [171] | 1 | Elbow – FE | sEMG | DC step motor | Wearable shoulder-elbow orthosis; physical therapy | CI study: 2 traumatic brachial plexus injury |
Pylatiuk [153] | 1 | Elbow – FE | sEMG | Hydraulic | Wearable orthosis; physical therapy | First prototype |
Rosen [169] | 1 | Elbow – FE | sEMG | DC motor (x1) | Stationary system (exoskeleton-based); power assistance | C0 study: 1 hs; predecessor of CADEN-7 |
Song [12] | 1 | Elbow – FE | sEMG | AC servo motor | Stationary system (end-effector-based); physical therapy | |
Vanderniepen [143] | 1 | Elbow – FE | Joint angle | Electric motors (x2) (SEA) | Wearable orthosis; orthopedic physical therapy | Prototype |
Systems assisting forearm movements | ||||||
Kung [15] | 1 | Forearm – PS | Joint angle, torque | AC servomotor (1) | Stationary system; physical therapy | CI study: 7 cS + 8 hs [16] |
Systems assisting wrist movements | ||||||
ASSIST, Sasaki [146] | 1 | Wrist – flexion | Joint angle | Rotary-type pneumatic actuators (x2) | Wearable orthosis; power assistance | C0 study: 5 hs |
Colombo [17] | 1 | Wrist – FE | Torque | Not specified | Stationary system; physical therapy | CII study: 20(8) cS |
Hu [18] | 1 | Wrist – FE | sEMG | Electric motor | Stationary system (end-effector-based); physical therapy | CI study: 15 cS |
Loureiro [100] | [1] | [Wrist – FE] | Hand motion (tremor) | MRF brake | Wearable orthosis; tremor suppression | CI study: 1 ET |
PolyJbot, Song [175] | 1 | Wrist – FE | sEMG, joint angle and torque | DC servomotor (x1) | Stationary system; physical therapy | CII study: 27(15) cS [19] |
Systems assisting finger(s) movements | ||||||
Amadeo, tyromotion GmbH | 5 | Fingers (each) – FE | End-point position and force | Electric motors | Stationary system (end-effector-based); physical therapy | Commercial system; CI study: 7 aS [20] |
Chen [21] | 5 | Independent linear movement of each finger | Fingers positions and forces, sEMG | DC linear motors (x5) | Stationary system (end-effector-based); physical therapy | C0 study: 1 hs |
CyberGrasp, CyberGlove Systems LLC; Turner [22] | [5] | [Resistive force to each finger] | Joint angles (CyberGlove) | DC motors (x5) | Force-feedback glove; interactions with virtual environment | Commercial system for other applications, used in some clinical studies e.g. [191, 192] |
Ertas [23] | 1 | Concurrent FE of 3 joints of a single finger | Joint angles | DC motor (x1) | Finger exoskeleton (underactuated mechanism); tendon physical therapy | C0 study: 4 hs |
Fuxiang [24] | 4 | Index finger– FE (x3), AA | Joint positions and toques | Linear stepping motors | Modular-finger exoskeleton (continuous passive motion device); physical therapy | C0 study: 3 hs |
Gloreha, Idrogenet srl | 5 | Independent passive movement of each finger | Fingers positions | Electric motors (x5) | Portable (Gloreha Lite)/Movable (Gloreha Professional) (end-effector-based, cable-driven); physical therapy | Commercial system (CE mark); CII study: 10(5) sS [25], CI studies: 9 stroke + 3 other diseases [26], 4 cS [27] |
Hand of Hope, Rehab-Robotics Comp. Ltd., Ho [28] | 5 | Each finger separately - FE | sEMG | DC linear motors (x5) | Portable system (orthosis); physical therapy | Commercial system (CE Mark), CI study: 8 cS |
HandCARE, Dovat [113] | 5 | Independent linear movement of each finger (1 at a time) | Fingers positions and forces | DC motor (x1!) | Stationary system (end-effector-based, cable-driven); physical therapy | CI study: 5 cS + 8 hs |
HEXORR, Schabowsky [29] | 2 | Thumb – FE, other fingers together – FE | Fingers positions and forces | DC motor (x1), AC motor (x1) | Stationary system (end-effector-based, cable-driven); physical therapy | CI study: 5 cS + 9 hs |
HIFE, Mali [183] | 2 | 1 finger – FE | End-point position | DC motors | Haptic interface (end-effector-based); physical therapy | Prototype |
InMotion HAND, previous name InMotion 5.0, Interactive Motion Tech., Inc.; Masia [165] | 1 | All fingers together – GR | Not specified | DC brushless motor | Add-on module for InMotion ARM; physical therapy | Commercial system |
Kline [30] | 1 | All fingers together – extension | Joint angles, sEMG | Pneumatic | Wearable glove; physical therapy | CI study: 1 stroke + hs (np) |
Lucas [147] | 1 | Index finger – flexion (passive extension) | sEMG | Pneumatic (x2) | Wearable orthosis; grasp assistance | CI study: 1 SCI |
MR_CHIROD v.2, Khanicheh [158] | [1] | [All fingers together – GR] | Finger position and torque | ERF brake | Exercising device (handle-like); physical therapy | C0 study: hs (np); fMRI compatible |
MRAGES, Winter [157] | [5] | [Fingers (each) – FE] | Finger positions and torques | MRF brakes (5) | Force-feedback glove; physical therapy | Prototype |
Mulas [31] | 2 | Thumb – FE, other fingers together – FE | sEMG, pulleys position | DC servo motors (x2) | Wearable orthosis; physical therapy | CI study: 1 sS |
Nathan [167] | 1 | All fingers together – grasp (passive release) | Hand-held trigger, index and thumb fingers joint angles | FES | Wearable orthosis (glove); physical therapy | CI study: 2 stroke + 1 hs |
PowerGrip, Broaden Horizons, Inc. | 1 | Thumb, index and middle finger together – GR | Switches or sEMG | DC motor (1) | Wearable orthosis; grasp assistance | Commercial system |
Reha-Digit, Reha-Stim; Hesse [32] | 1 | 4 fingers (except the thumb) together – FE | None | DC motor | Portable system (rotating handle); physical therapy | Commercial system (CE mark); CII study: 8(4) sS, CI study: 1 cS |
Rosati [144] | 1 | 4 fingers (except the thumb) together – FE | Not selected yet | DC motor (SEA) | Wearable orthosis; physical therapy | Design |
Rotella [33] | 4 | Index finger flexion (x2) (passive extension), thumb – flexion, other fingers together – flexion | Not specified | Electric motors | Wearable orthosis; grasp assistance | Design |
Rutgers Master II-ND, Bouzit [184] | 4 | Thumb, index, middle, and ring finger – FE | Actuator translation and inclination | Pneumatic (x4) | Force-feedback glove; interactions with virtual environment | Research device; often used for hand therapy (e.g. [185–187]) |
Salford Hand Exoskeleton, Sarakoglou [34] | 7 | Index, middle, and ring finger – FE (x2), thumb – FE | Joint angles and end-point force | DC motors | Wearable orthosis (exoskeleton); physical therapy | C0 study: hs (np) |
Tong [35] | 10 | Each finger – FE (x2) | sEMG | Electric linear motors (x10) | Portable system (wearable orthosis); physical therapy | CI study: 2 cS |
TU Berlin Finger Exoskeleton, Wege [36] | 4 | 1 finger – FE (x3), AA | Joint angles | DC motors (x4) | Finger exoskeleton; physical therapy | C0 study: 1 hs |
TU Berlin Hand Exoskeleton, Fleischer [117] | 20 | FE and AA of all major joints of each finger | Joint angles, end-point force, sEMG | DC motors | Wearable orthosis (exoskeleton); physical therapy | Prototype |
Worsnopp [37] | 3 | Index finger – FE (x3) | Joint angles and torques | DC brushless servomotors (x6) | Finger exoskeleton; physical therapy | Prototype |
Xing [38] | 2 | Thumb – FE, other fingers together – FE | Position, force | Pneumatic (PAMs) (x2) | Wearable orthosis; physical therapy | C0 study: 3 hs |
Systems assisting shoulder and elbow movements | ||||||
ACRE, Schoone [108] | 5 | Shoulder * elbow | Joint angles | Electrical motors (x5) | Stationary system (end-effector-based); physical therapy | CI: 10 sS |
ACT3D, Ellis [39] | 3 | Shoulder * elbow | End-point torque, position and velocity (HapticMaster) | DC brushed motors (HapticMaster) | Stationary system (end-effector-based); physical therapy and assessment of therapy results | CI study: 6 stroke |
ARC-MIME, Lum [137] | 1+[2] | Shoulder * elbow (longitudinal movements of the forearm) [forearm’s elevation and yaw] | Forearm position and torque | DC motor (x1), magnetic particle brakes (x2) | Stationary system (end-effector-based); physical therapy | An attempt to commercialize; CI study: 4 cS; merges concepts from MIME and ARM Guide |
ARM Guide, Reinkensmeyer [136] | 1+[2] | Shoulder * elbow (longitudinal movements of the forearm) [forearm’s elevation and yaw] | Forearm position and torque | DC motor (x1), magnetic particle brakes (x2) | Stationary system (end-effector-based); physical therapy | CII study: 19(10) cS [40]; see also: ARC-MIME |
BFIAMT, Chang [41] | 2 | Shoulder * elbow (bilateral longitudinal movements of the forearms) | End point position and torque | DC servomotor (x2), magnetic particle brakes (x2) | Stationary system (end-effector-based); physical therapy | CI study: 20 cS [41] |
BONES, Klein [118] | 4 | Shoulder – FE, AA, RT, elbow – FE | Joint angles, cylinder pressure | Pneumatic (x5) | Stationary system (parallel robot + exoskeleton-based distal part); physical therapy | Prototype; see also: Supinator extender (SUE) |
Dampace, Stienen [154] | [4] | [Shoulder – FE, AA, RT, elbow – FE] | Joint angles and torques | Hydraulic brake actuators (SEA) | Stationary system (exoskeleton-based); physical therapy | CI study: stroke (np); see also Limpact |
Freeman [163] | 2 | Shoulder * elbow (in the plane) | Handle torque and position | DC brusheless servomotors (x2), FES | Stationary system (end-effector-based); physical therapy | C0 study: 18 hs |
InMotion ARM, previous name InMotion 2.0, Interactive Motion Tech., Inc.; based on: MIT Manus, Krebs [107] | 2+[1] | Shoulder * elbow (in the plane + gravity compensation) | Joint positions, angular velocity and torque | DC brushless motors | Stationary system (end-effector-based); physical therapy | Commercial system, CIII/CIV studies: 127(49) cS [203], CII studies: 56(30) aS [42], 30(10) aS [43] and others |
Ju [44] | 2 | Shoulder * elbow (in the plane) | Handle torque and position | AC motors (x2) | Stationary system (end-effector-based; physical therapy | CI study: stroke (np) |
Kiguchi [45] | 3 | Shoulder – FE, AA, elbow – FE | sEMG | DC motors | Wheelchair mounted system (exoskeleton-based); power assistance | C0 study: hs (np); see also: shoulder, elbow and shoulder-elbow-forearm orthoses developed by Kiguchi and SUEFUL-7 |
Kobayashi [149] | 4 | Shoulder – FE, AA, RT, elbow – FE | Joint angle | Pneumatic (PAMs) (x10) | Wearable (but not portable) orthosis (”muscle suit“); power assistance | C0 study: 5 hs |
Limpact, Stienen [155] | 4 | Shoulder – FE, AA, RT, elbow – FE | Joint angles and torques | Rotational hydroelastic actuator (SEA) | Stationary system (exoskeleton-based); physical therapy | Design; based on Dampace |
MariBot, Rosati [46] | 5 | Shoulder * elbow | Motor positions | DC frameless brushless motors | Stationary system (end-effector-based, cable-driven robot); physical therapy | Prototype; successor of NeReBot |
MEMOS, Micera [132] | 2 | Shoulder * elbow (in the plane) | Torque and handle position | DC motors (x2) | Stationary system (end-effector-based); physical therapy | |
MIME, Burgar [120] | 6 | Shoulder * elbow | Forearm position, orientation, torque | DC brushed servomotors (PUMA 560 robot) | Stationary system (end-effector-based); physical therapy | CII studies: 27(13) cS [48] and 30(24) sS [49], CI study: 13 cS [50]; see also ARC-MIME |
Moubarak [51] | 4 | Shoulder – FE, AA, RT, elbow – FE | Joint position, velocity and torques | DC brushless motors (x4) | Wheelchair-mounted system (exoskeleton-based); physical therapy | Prototype |
NeReBot, Rosati [111] | 3 | Shoulder * elbow | Motor positions | DC motors (x3) | Stationary system (end-effector-based, cable-driven robot); physical therapy | CII studies: 24(12) sS [111], 35 (17) aS [52], 21(11) sS [53]; predecessor of MariBot |
REHAROB, Toth [125] | 12 | Shoulder * elbow | End-point torques | Electrical motors (ABB IRB 140 and IRB 1400H robots) | Stationary system (2 modified industrial robots); physical therapy | CII study: 22 (13) stroke + 8(2) TBI [54], CI study: 6 cS + 2 sS + 4 hs [125] |
Systems assisting forearm and wrist movements | ||||||
Bi-Manu-Track, Reha-Stim; Hesse [55] | 1 | Forearm – PS * wrist – FE | Not specified | Not specified | Stationary system (end-effector-based); physical therapy | Commercial system, CII study: 44 (22) sA [56], CI study: 12 cS [55] |
CRAMER, Spencer [109] | 3 | Forearm – PS, wrist – FE, AA | Hand accelerations (Nintendo Wii console) | Digital servomotors (x4) | Stationary system (parallel robot); physical therapy | Prototype |
InMotion WRIST, previous name InMotion 3.0, Interactive Motion Tech., Inc.; Krebs [138] | 3 | Forearm – PS, wrist – FE * AA | Joint angles | DC brushless motors (x3) | Stationary system, may be used as an add-on for InMotion ARM; physical therapy | Commercial system |
RiceWrist, Gupta [119] | 4 | Forearm – PS, wrist – FE * AA | Joint angles and forces | Frameless DC brushless motors | Wearable orthosis; physical therapy | Prototype; extension for MIME, see also: MAHI |
Supinator extender (SUE), Allington [57] | 2 | Forearm – PS, wrist – FE | Joint angles and forces | Pneumatic | Wearable orthosis; physical therapy | CI study: 8 cS; extension for BONES and ArmeoSpring |
Takaiwa [110] | 3 | Forearm – PS, wrist – FE, AA | Torque | Pneumatic (x6) | Stationary system (parallel robot); physical therapy | Prototype |
W-EXOS, Gopura [174] | 3 | Forearm – PS, wrist – FE, AA | sEMG, hand force, forearm torque | DC motors (x3) | Stationary system (exoskeleton-based); power assistance | C0 study: 2hs; see also: SUEFUL-7 |
Systems assisting wrist and fingers movements | ||||||
AMES, Cordo [58] | 1 | wrist and MCP joints of 4 fingers (coupled together) | Flexion/Extension torque, sEMG (optional) | Electric motor + 2 vibrators (for flexor and extensor tendons) | Stationary system (with desktop mounted orthosis), physical therapy (at home) | FDA clearance; CI study: 20(11) cS; a modified version of the system is used for ankle rehabilitation |
Hand Mentor™, Kinematic Muscles, Inc.; Koeneman [59] | 1 | Wrist and 4 fingers (except the thumb) extension | Wrist angle, flexion torque | Pneumatic (PAM) (x1) | Wearable orthosis; physical therapy | Commercial system (FDA Class I Device); CII study: 21(11) sS [60], CI studies: 1 cS [61], 1 cS [62] |
HWARD, Takahashi [130] | 3 | Wrist – FE, thumb – FE, other fingers together – FE | Joint angles and torques | Pneumatic (x3) | Stationary system (with desktop mounted orthosis); physical therapy | CII study: 13(13) cS |
My Scrivener, Obslap Reseach, LLC; Palsbo [190] | 3 | Wrist * fingers | End-point position and torque (Novint Falcon) | Electric motors (Novint Falcon) | Stationary system (end-effector-based, using haptic device); fine motor hand therapy | CI study: 18 children with weak handwriting skills |
Systems assisting shoulder, elbow and forearm movements | ||||||
ADLER, Johnson [63] | 3+{3} | Shoulder * elbow * forearm | End-point torque, position and velocity (HapticMaster) | DC brushed motors (HapticMaster) | Stationary system (end-effector-based); physical therapy | C0 study: 8 hs [64] |
ARAMIS, Pignolo [65] | 6x2 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS | Joint angles and torques | DC brushed motors (x6 per exoskeleton) | Stationary system (2 exoskeletons); physical therapy | CI study: 14 sS |
Gentle/S, Amirabdollahian [121] | 3+{3} | Shoulder * elbow * forearm | End-point torque, position and velocity (HapticMaster) | DC brushed motors (HapticMaster) | Stationary system (end-effector-based); physical therapy | CII study: 31(31) sS + cS [66]; predecessor of Gentle/G |
iPAM, Culmer [67] | 6 | Shoulder * elbow * forearm | Joint torques | Pneumatic | Stationary system (2 robotic arms); physical therapy | CI study: 16 cS |
Kiguchi [68] | 4 | Shoulder – FE, AA, elbow – FE, forearm – AA | sEMG | DC motors | Wheelchair mounted system (exoskeleton-based); power assistance | C0 study: 1 hs; see also: shoulder, elbow and shoulder-elbow orthoses developed by Kiguchi and SUEFUL-7 |
L-Exos, Frisoli [197] | 4 | Shoulder – FE, AA, RT, elbow – FE {forearm – PS} | Joint angles | Electric motors (x4) | Stationary system (exoskeleton-based); physical therapy | CI study: 9 cS [69] |
MGA, Carignan [70] | 5 | Shoulder – FE, AA, RT, VD, elbow – FE, {forearm – PS} | Joint torques | DC brushless motors (x5) | Stationary system (exoskeleton-based); physical therapy | Prototype |
MULOS, Johnson [168] | 5 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS | Joystick (4 DOF) | Electric motors (x5) | Wheelchair-mounted system (exoskeleton-based); power assistance and physical therapy | C0 study: 1 hs |
NJIT-RAVR, Fluet [71] | 3+{3} | Shoulder * elbow * forearm | End-point torque, position and velocity (HapticMaster) | DC brushed motors (HapticMaster) | Stationary system (end-effector-based); physical therapy of children | CI study: 8 CP |
RehabExos, Vertechy [131] | 4 | Shoulder – FE, AA, RT, elbow – FE {forearm – PS} | Joint torques | Custom-made frameless brushless motor (x3), DC motor (x1) | Stationary system (exoskeleton-based); physical therapy | First prototype |
Systems assisting shoulder, elbow and fingers movements | ||||||
Pneu-WREX, Wolbrecht [145] | 4+{1} | Shoulder – FE, AA, HD, elbow – FE, {fingers – GR} | Joint angles, grasp force, cylinder pressure | Pneumatic (x4) | Stationary system (exoskeleton-based); physical therapy | CI study: 11 cS [72]; see also: T-WREX and ArmeoSpring |
T-WREX, Sanchez [106] | {5} | {Shoulder – FE, AA, RT, elbow – FE, fingers – GR} | Joint angles, grasp force | None | Wheelchair mounted gravity balancing orthosis; physical therapy | CII studies: 23(11) cS [73], 28(14) cS [74], CI studies: 9cS + 5cS (2 studies) [75]; see also: Pneu-WREX and ArmeoSpring |
Systems assisting elbow, forearm and wrist movements | ||||||
Ding [179] | 4 | Elbow – FE, forearm – PS, wrist – FE, AA | Joint angles (a Motion Capture System is used) | Pneumatic (x8) | Wearable (but not portable) orthosis; power assistance for explicitly specified muscles | C0 study: 6 hs |
MAHI, Gupta [76] | 5 | Elbow – FE, forearm – PS, wrist – FE * AA | Joint angles | Frameless DC brushless motors | Wearable orthosis (force-feedback exoskeleton); physical therapy | Prototype; extension for MIME; see also: RiceWrist |
WOTAS, Rocon [99] | [3] | [Elbow – FE, forearm – PS, wrist – FE] | Angular velocity, torques | DC motors (x3) | Wearable orthosis; tremor suppression | CI study: 10 mainly ET |
Systems assisting forearm, wrist and fingers movements | ||||||
Haptic Knob, Lambercy [77] | 2 | Forearm – PS * wrist – FE, fingers – GR | Position, torque | DC brushed motors (x2) | Stationary system (2 parallelograms); physical therapy | CI study: 3 cS |
Hasegawa [98] | 11 | Forearm – PS, wrist – FE, AA, thumb – FE (x2), index finger – FE (x3), other fingers together –FE (x3) | sEMG | DC motors (x11) | Wearable orthosis; grasp assistance | C0 study: 1 hs |
Kawasaki [178] | 18 | Forearm – PS, wrist – FE, thumb – FE (x3), AA, other fingers – FE (x2), AA | Joint angles of healthy hand | Servo motors (x22) | Stationary system (exoskeleton-based); physical therapy | C0 study: 1 hs |
Scherer [156] | [1] | [Forearm and fingers twisting movements * wrist – FE] | Position, torque | Magnetic particle brake | Stationary system (end-effector-based, rotating handle); physical therapy | CI study: 2 stroke + 1 MS |
Systems assisting shoulder, elbow, forearm and wrist movements | ||||||
Braccio di Ferro, Casadio [134] | 2 | Shoulder * elbow * (forearm) * wrist (in the horizonatal or vertical plane) | Device joint angles, end-point force | AC brushless servomotors (x2) | Stationary system (end-effector-based); physical therapy | CI studies: 10 cS + 4 hs [78], 7 MS + 9 hs [79], 11 MS + 11 hs [80], 8 MS [81] |
CADEN-7, Perry [97] | 2x7 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, AA | sEMG, joint angles, angular velocities and forces/torques | DC brushed motors (2x7) | Stationary system (exoskeleton-based), 2 robotic arms; power assistance | C0 study: 1 hs |
Denève [82] | 3 | Shoulder * elbow * (forearm) * wrist | Device joint angles, end-point force | AC brushless motors (x3) | Stationary system (end-effector-based); physical therapy | Prototype |
EMUL, Furusho [159] | 3 | Shoulder * elbow * (forearm) * wrist | End-point position | Electric motors + ERF clutches | Stationary system (end-effector-based); physical therapy | CI study: 6 stroke; predecessor of PLEMO, see also: Robotherapist |
ESTEC exoskeleton, Schiele [115] | 9 | Shoulder – FE, AA, RT, VD, HD, elbow – FE, forearm – PS, wrist – FE, AA | Joint angles | Not selected yet | Wearable system (exoskeleton-based); physical therapy | First prototype |
Furuhashi [83] | 3 | Shoulder * elbow * (forearm) * wrist | End-point torque | DC motors (x3) | Stationary system (end-effector-based); physical therapy | Prototype |
Hybrid-PLEMO, Kikuchi [135] | 2 | Shoulder * elbow * (forearm) * wrist (in the adjustable plane) | Device joint angles, end-point force | DC servomotors (x2) + ERF clutches/brakes (x4) | Stationary system (end-effector-based); physical therapy | Prototype; based on PLEMO |
Lam [180] | 2 | Shoulder * elbow * (forearm) * wrist (in the plane) | End-point position, abnormal trunk position detection | Not specified | Stationary system (end-effector-based); physical therapy | C0 study: 8 hs |
Li [176] | 5 | Shoulder – FE, AA, elbow – FE, forearm – PS, wrist – FE | sEMG signals from not affected arm | AC (x3) and DC (x2) servo motors | Wearable system (exoskeleton-based); physical therapy | Prototype |
MACARM, Beer [112] | 6 | Shoulder * elbow * forearm * wrist | End-point position and force | Electric motors (x8) | Stationary system (end-effector-based, cable-driven robot); physical therapy | CI study: 5 cS |
Mathai [84] | 3 | Shoulder * elbow * forearm * wrist | End-point torque, position and velocity (HapticMaster) | DC brushed motors (HapticMaster) | Stationary system (end-effector-based); physical therapy | CI study: 4 cS |
MIME-RiceWrist, Gupta [119] | 10 | Shoulder * elbow * forearm * wrist | See separate information for MIME and RiceWrist system | See separate information for MIME and RiceWrist system | Stationary system (robotic arm + orthosis); physical therapy | CI study: stroke (np) |
PLEMO, Kikuchi [105] | [2] | [Shoulder * elbow * (forearm) * wrist] (in the adjustable plane) | Device joint angles, end-point force | ERF brakes | Stationary system (end-effector-based); physical therapy | CI study: 6 stroke + 27 hs [85]; successor of EMUL, predecessor of Hybrid-PLEMO |
Robotherapist, Furusho [160] | 6 | Shoulder * elbow * forearm * wrist | End-point position | Electric motors + ERF clutches | Stationary system (end-effector-based); physical therapy | Prototype; see also: EMUL |
RUPERT IV, Balasubrama- nian [151] | 5 | Shoulder – AA, RT, elbow – FE, forearm – PS, wrist – FE | Joint torques and actuators pressure | Pneumatic (PAMs) | Wearable system (exoskeleton-based); physical therapy | CI study: 6 cS [86] |
Salford Arm Rehabilitation Exoskeleton, Tsagarakis [148] | 7 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, AA | Joint positions and torques | Linear pneumatic actuators (PAMs) (x14) | Stationary system (exoskeleton-based); physical therapy | Prototype |
Sophia-3, Rosati [87] | 2 | Shoulder * elbow * (forearm) * wrist (in the plane) | End-point position and force | AC motors | Stationary system (end-effector-based, planar cable-driven robot); physical therapy | First prototype; see also: Sophia-4 |
Sophia-4, Rosati [87] | 2 | Shoulder * elbow * (forearm) * wrist (in the plane) | End-point position and force | DC motors | Stationary system (end-effector-based, planar cable-driven robot); physical therapy | Prototype; see also: Sophia-3 |
SUEFUL-7, Gopura [166] | 7 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, AA | sEMG/joint forces/torques | DC servo motors (x7) | Stationary system (exoskeleton-based); power assistance | C0 study: 2 hs; shoulder-elbow orthosis integrated with W-EXOS system |
Takahashi [182] | 2 | Shoulder * elbow * (forearm) * wrist (in the plane) | End point position | Electric servomotors (x2) | Stationary system (end-effector-based); physical therapy | CI study: 5 stroke + 2 Guillain-Bare syndrome |
Tanaka [88] | 2 | Shoulder * elbow * (forearm) * wrist (in the plane) | End-point force and position | AC linear motor (x2) | Stationary system (end-effector-based); physical therapy | C0 study: 6 hs |
UHD, Oblak [139] | 2 | 3 configurations possible: 1) shoulder * elbow, 2) forearm – PS, wrist – FE, 3) forearm – PS, wrist – AA | Torque and handle position | DC motors (x2), (SEA) | Stationary system (end-effector-based); physical therapy | CI study: 1 cS; reconfigurable robot |
Umemura [152] | 7 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, AA | Actuators pressure | Hydraulic | Stationary system (end-effector-based); physical therapy | Prototype |
UMH, Morales [127] | 6 | Shoulder * elbow * forearm * wrist | Joint torques | Pneumatic | Stationary system (two robotic arms); physical therapy | C0 study: hs (np) |
Xiu-Feng [89] | 2 | Shoulder * elbow * (forearm) * wrist (in the plane) | Device joint angles, end-point force | AC servomotors (x2) | Stationary system (end-effector-based); physical therapy | CI study: 30 stroke |
Systems assisting shoulder, elbow, forearm, wrist and finger movements (whole arm) | ||||||
ArmeoPower, Hocoma AG; based on: ARMin III, Nef [90] | 6{+1} | Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, {fingers – GR} | Joint angles, grasp force | DC motors (x6) | Stationary system (exoskeleton-based); physical therapy | Commercial system; CI studies: 3 cS (ARMin I) [91], 4 cS (ARMin II) [92] |
ArmeoSpring, Hocoma AG; based on: T-WREX, Sanchez [106] | {7} | {Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, fingers – GR} | Joint angles, grasp force | None | Stationary system (exoskeleton-based); physical therapy | Commercial system (CE Mark, FDA clearance); CI study: 10 MS [93]; see also: T-WREX |
ARMOR, Mayr [177] | 8 | Shoulder – FE, AA, RT, elbow – FE, forearm – PS, wrist – FE, thumb – FE, other fingers together – FE | Joint angles of the master hand | Electric motor | Stationary master-slave system (exoskeleton-based); physical therapy | CII study: 8(8) sS |
Gentle/G, Loureiro [123] | 6{+3} | Shoulder * elbow (3 DOF, HapticMaster), {forearm – PS, wrist – FE, AA}, thumb – FE, other fingers together – FE (x2) (grasp robot) | End-point torque, position and velocity (HapticMaster) joint angels and end-point force (grasp robot) | DC brushed motors (HapticMaster and grasp robot) | Stationary system (robotic arm + orthosis); physical therapy | CII study: 4(4) sS [94]; based on Gentle/S |
HEnRiE, Mihelj [124] | 4{+2} | Shoulder * elbow (3 DOF, HapticMaster), {wrist – FE, AA}, thumb, middle and index finger together – GR | End-point torque, position and velocity (HapticMaster) joint angels and end-point force | DC brushed motors (HapticMaster) electric motors (grasping device) | Stationary system (robotic arm + orthosis); physical therapy | Prototype (with spring instead of an actuator in the hand part); C0 study: 1 hs; based on Gentle/S |
IntelliArm, Ren [116] | 8{+2} | Shoulder – FE, AA, RT, VD, {HD (x2)}, elbow – FE, forearm – PS, wrist – FE, all fingers together – GR | Joint angles and torques | Not specified | Stationary system (exoskeleton-based); physical therapy | CI study: stroke (np) |
MUNDUS, Pedrocchi [101] | [3]+{2}+1 | [Shoulder – FE, AA, elbow – FE], optional: forearm – PS, wrist – FE (shoulder-elbow-wrist exoskeleton), optional: all fingers together – GR (hand orthosis) | sEMG, button, eye-movement or Bran Computer Interface; object labels – radio frequency identification | elastic elements or DC brakes (shoulder-elbow-wrist exoskeleton), FES (optional), DC motor (optional hand orthosis) | Modular wheelchair-mounted system (exoskeleton-based); movement assistance | CI study: 3 SCI + 2 MS |
ReoGo, Motorica Medical Inc. | 2+{1} | Shoulder * elbow; also {* wrist} or {fingers - FE} if special handle used | End-point position | Electric motors (x4) | Portable system (end-effector-based) with various handles; physical therapy | Commercial system; CIII/CIV study: 60(np) sS [198], CI studies: 14 cS [95], 10 sS [96] |