Group 1 Thanawin T. ( ) Jirawat I. ( ) Than I. ( )

PowerGrip system (Broaden Horizons, Inc., USA)

DOF Supported movements Main control inputs Actuators Type; field of application Stage of development 1 Wrist and 4 fingers (except the thumb) extension Wrist angle, flexion torque Pneumatic (PAM) (x1) Wearable orthosis; physical therapy Commercial Kinematic Muscles Inc.

Rubbertuator, Bridgestone rubber Inc. (Japan) The HADE2 Leg for Agile Locomotion

Assistive control strategy impedance-based, counterbalance-based, EMG-based and performance-based adaptive control Challenge-based control strategy Haptic stimulation strategy resistive, amplifying error and constraint-induced Non-contacting coaching strategy Impedance control approach admittance control approach

DOF Supported movements Main control inputs Actuators Type; field of application 1Wrist (Flexion) sEMG, joint angle and torque DC servomotor (x1) Stationary system; physical therapy T. Song, Philip Research (China)

DOF Supported movements Main control inputs Actuators Type; field of application Stage of development 1 Wrist (Flexion) Joint angle Rotary-type pneumatic actuator (x2) Power assistance C0 Study: 5hr Sasaki D, Noritsugu T, Takaiwa M (2005)

Motion Tech, Inc. (USA) DOF Supported movements Main control inputs Actuators Type; field of application Stage of development 3 Forearm – PS, wrist – FE * AA Joint angle DC brushless motors (x3) Stationary system; physical therapy Commercial

Hocoma (Switzerland) based on: T-WREX, Sanchez DOF Supported movements Main control inputs Actuators Type; field of application Stage of development 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);

[1] Maciejasz et al. A survey on robotic devices for upper limb rehabilitation. Journal of Neuro Engineering and Rehabilitation 2014, 11:3

Category 0 Initial feasibility studies: Trials performed with low number of healthy volunteers, often using the prototype of a device, in order to evaluate its safety and clinical feasibility. Category I Pilot Consideration-of-Concept studies: Clinical trials aimed at testing device safety, clinical feasibility and potential benefit. They are performed in a small population of subjects suffering from the target disease. There is either no control group in the trial, or healthy subjects are used as control. Category II Development-of-Concept studies: Clinical studies aiming at verification of device efficacy. Include a standardized description of the intervention, a control group, randomization and blinded outcome assessment. Category III/IV Demonstration-of-Concept-Studies/Proof-of-Concept studies: Further evaluation of the device efficacy. Similar to category II, however, usually these are multicentered studies with high number of participants. guidelines provided by Lo [2] and supplemented by Category 0.