Fig. 4

A histogram showing the frequency of publications on home-based rehabilitation mechatronic devices since 2010, colour-coded to distinguish between papers introducing novel devices (and the anatomy targeted by the device), and papers continuing the development of an earlier device. Devices targeting proximal anatomy (shoulder and elbow) are consistently represented across the time span, while devices targeting distal anatomy (wrist and hand) have increased in frequency in the past 6 years