SEFRE: Semiexoskeleton Rehabilitation System

Table 1

Examples of robotic rehabilitation.

Reference	Target	Key concept
Lum et al. [9]	Hand	A rehabilitator in bimanual lifting
Chiri et al. [10]	Hand	A novel wearable multiphalanges device
Mao and Agrawal [11]	Hand	A cable driven arm exoskeleton
Takahashi et al. [12]	Wrist	Robotic device for hand motor therapy
Krebs et al. [13]	Wrist	A robot for wrist rehabilitation
Zhang et al. [14]	Elbow	A curved pneumatic muscle based exoskeleton
Wiegand et al. [15]	Elbow	A lightweight, portable, and active orthosis
O’Malley et al. [16]	Wrist & forearm	An exoskeleton rehabilitation robot
Oblak et al. [17]	Wrist & forearm	A universal haptic drive (UHD)
Hesse et al. [18]	Elbow & wrist	A robotic arm for bilateral training
Perry et al. [19]	Upper limb	A cable-actuated dexterous powered arm exoskeleton
Howard et al. [20]	Upper limb	A modular 2D planar manipulandum
Lam et al. [21]	Upper limb	A haptic device with postural sensors