Table 1 Mechatronic devices for home-based upper limb rehabilitation therapy
From: Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities
Orig. year | Device or author | DOF (A/U) | Motions | Actuators | Measurement capability | Type |
|---|---|---|---|---|---|---|
Proximal | ||||||
 2010 | Ren et al. [42] | 1/0 | Elbow motion | DC Motor | Elbow joint pos. | Joint-based |
 2011 | 2/0 | Horizontal planar reaching | DC Motor | Hand pos. | Endpoint | |
 2013 | RAE [45] | 0/1 | Circular reaching | None | Hand pos. | Endpoint |
 2014 | CR2 [46] | 1/0 | Linear reaching | DC motor | Hand pos. | Endpoint |
 2014 | Haptic Theradrive [47] | 1/0 | Circular reaching | DC motor | Hand pos. and force | Endpoint |
 2014 | 2/0 | Horizontal planar reaching | Electric motors | Hand pos. and force | Endpoint | |
 2014 | ATD [49] | 3/1 | 3D reaching and grasping | DC motor + damper | Hand pos. | Endpoint |
 2014 | Tommasino et al. [50] | 0/2 | Horizontal planar reaching | None | Hand pos. and force | Endpoint |
 2015 | Mohamaddan et al. [51] | 2/0 | Vertical planar reaching | DC motors | Hand pos. | Endpoint |
 2015 | 0/5 | 3D reaching | None | Arm accel. and orient., joint pos., trunk pos. | Joint-based | |
 2017 | Wojewoda et al. [54] | 0/2 | Horizontal planar reaching | None | Hand pos. and orient. | Endpoint |
 2017 | 2/0 | Horizontal planar reaching | DC motors | Hand pos. and force | Endpoint | |
 2017 | BULReD [57] | 2/0 | Horizontal planar reaching (bimanual) | DC motors | Hand pos. and force | Endpoint |
 2018 | 1/0 | Elbow motion | DC motor + spring | Elbow joint pos. | Joint-based | |
 2018 | 3/0 | 3D reaching | DC motors | Hand pos. and force | Endpoint | |
 2018 | Gao et al. [62] | 3/0 | 3D reaching | DC motors | Elbow, forearm, and wrist flexion joint pos. | Joint-based |
 2019 | PaRRo [63] | 0/2 | Horizontal planar reaching | Magnetic brakes | Hand pos. | Endpoint |
 2019 | Bai et al. [64] | 2/0 | Spherical reaching | DC motors | Hand pos., force and torque | Endpoint |
 2019 | HomeRehabMaster [65] | 0/5 | 3D reaching | None | Arm accel. and orient., joint pos., trunk pos. | Joint-based |
 2020 | Phan et al. [66] | 0/1 | Elbow motion | Linear servomotors + spring | Elbow joint pos. | Joint-based |
 2020 | Nicholson-Smith et al. [67] | 2/0 | Horizontal planar reaching | DC motors | Hand pos. and force | Endpoint |
 2021 | Zhang et al. [68] | 6/0 | 3D reaching (bimanual) | Linear servomotors | Shoulder and elbow joint pos. | Joint-based |
Distal | ||||||
 2014 | 0/6 | Wrist flexion, grasping (individual fingers) | None (springs) | Finger and wrist pos., hand pos. | Joint-based | |
 2014 | 3/0 | Wrist orient. | DC motors | Wrist pos. and hand force | Endpoint | |
 2015 | Polygerinos et al. [75] | 5/0 | Grasping (individual fingers) | Pneumatic bladders | Fingertip forces | Joint-based |
 2016 | Yang et al. [76] | 1/0 | Grasping | Stepper motor | Fingertip forces, finger flexion | Joint-based |
 2016 | 0/8 | Grasping (individual fingers), 3D reaching | None | Hand position, orientation, and acceleration, wrist position, finger positions | Joint-based | |
 2017 | HandSOME [81] | 0/1 | Grasping | None | Grasp pos. | Joint-based |
 2017 | 1/1 | Wrist orient. | DC Motor | Wrist orient., velocity, torque, (sEMG) | Joint-based | |
 2017 | QikRehab [84] | 0/6 | Object manipulation (pinch, grasp, twist, roll) | None | Hand accel., grip force | Endpoint |
 2018 | DIAGNOBOT [85] | 3a/1 | Wrist orient. and grasping | Electric servomotors | Wrist orient., force, torque | Endpoint |
 2018 | Ambidexter [86] | 3/0 | Wrist orient. and grasping | DC motors | Hand orient., grasp force | Endpoint |
 2018 | X-Glove [87] | 5/3 | 3D reaching and grasping (individual fingers) | Linear servomotors | Finger pos., arm joint pos. | Joint-based |
 2020 | PWRR [88] | 2/0 | Wrist orient. | Pneumatic pistons | Wrist orient. | Endpoint |
 2021 | RobHand [89] | 5/0 | Grasping (individual fingers) | Linear servomotors | Finger pos. | Joint-based |
Proximal + Distal | ||||||
 2010 | GT System [90] | 0/6 | 3D reaching and grasping | None | Hand pos. and orient., trunk pos. | Endpoint |
 2012 | 3/0 | Elbow motion and wrist flexion and rotation | DC motors | Elbow and wrist joint pos. | Joint-based | |
 2012 | 0/3 | Horizontal planar reaching and grasping | DC motors | Hand pos., wrist orient., vertical and grasp force | Endpointb | |