| SEG # (Ref.) | Function | Application | Task | Palm design | Actuation (number) | Assistance mode | DOF/finger | Fingers | Motion | Material | Weight (g) | Force (N) | Pressure (kPa) | Control | Assessment |
| 1 [14] | AT | Stroke survivors, SCI | Grasping | CPD | Tendon-driven (1) | PAM | 8 | Index, middle, thumb | Flexion-extension | Synthetic latex | 80 | 18 | — | CLC | Fingertip and blocked force | 2 [17] | AT-RT | Hand disability | Grasping | CPD | Tendon-driven (3) | PAM | 8 | Index, middle, thumb | Flexion-extension | Synthetic latex | — | — | — | CLC (PI, PD) | EMG | 3 [19] | AT | Stroke survivors, SCI | Grasping | CPD | Tendon-driven (3) | PAM | 8 | Index, middle, thumb | Flexion-extension | Synthetic latex | 194 | 20 | — | CLC | EMG | 4 [21] | AT | Hand disability | Grasping | OPD | Tendon-driven (2) | PAM | 8 | Index, middle, thumb | Flexion-extension | Silicone KE-1300 | — | 20 | — | — | EMG | 5 [23] | AT | Hand disability | Grasping, pinching | OPD | Pneumatic (4) | PAM | 11 | Index, middle, thumb | Flexion-extension, adduction-abduction | Silicone KE-1300 T | 350 | 22.5 | 300 | CLC | ROM, grip strength | 6 [22] | AT | SCI | Grasping, pinching | OPD | Tendon-driven (3) | PAM | 9 | Index, middle, thumb | Flexion-extension, opponent | Silicone KE-1300 T | 104 | 10.3 | — | CLC | Grip strength | 7 [8] | RT | Hand disability | Grasping, pinching | OPD | Pneumatic elastomer (4) | PAM | 14 | All except thumb | Flexion-extension, curl | Neoprene | 160 | — | — | CLC | FEM analysis | 8 [51] | AT-RT | Hand disability | Grasping, pinching | OPD | Hydraulic elastomer (2) | PAM | 15 | All | Flexion-extension, opponent | Neoprene | — | — | 400 | CLC | ROM, EMG | 9 [11] | AT-RT | SCI | Grasping | OPD | Hydraulic elastomer (2) | PAM | 15 | All | Flexion-extension, opponent | Textile | — | 10-15 | — | CLC | ROM, BBT | 10 [50] | AT | Hand disability | Grasping, holding | OPD | Hydraulic elastomers | PAM | 15 | All | Flexion-extension, opponent | Elastomer | — | 14 | 413 | CLC | ROM, EMG | 11 [36] | RT | Stroke survivors | Gripping | OPD | Pneumatic | PAM | 16 | All | Flexion-extension, opponent, adduction-abduction | — | — | — | — | — | ROM: MI, BBT, FIM | 12 [105] | AT-RT | Hemiplegic patients | Gripping, pinching | OPD | Pneumatic | PAM | 16 | All | Flexion-extension, opponent, adduction-abduction | — | — | — | — | — | ROM: MI, NHPT test | 13 [45] | AT-RT | Stroke, SCI | Gripping, pinching | OPD | Pneumatic | AAM-PAM | 16 | All | Flexion-extension, opponent, adduction-abduction | — | — | — | — | — | ROM: NHPT, FIM test | 14 [113] | RT | Stroke, SCI | Gripping, pinching | OPD | Pneumatic | AAM-PAM | 15 | All | Flexion-extension, opponent, adduction-abduction | — | — | — | — | — | ROM: MI, NHPT test | 15 [38] | RT | Stroke survivors | Gripping | OPD | Electrical (5) | PAM | 15 | All, wrist | Flexion-extension, opponent, adduction-abduction | — | — | — | — | — | Ashworth index | 16 [114] | AT | — | Grasping | CPD | Hydraulic | PAM | 14 | All | Flexion-extension | — | 2620 | 12 | 550 | CLC | Pressure regulating | 17 [39] | RT | Stroke survivors, SCI | Grasping, manipulation | OPD | Tendon-driven | AAM-PAM | 14 | All, wrist, forearm | Flexion-extension, opponent, pronation-supination | — | — | — | — | — | ROM: FMA, JTT, PPT | 18 [115] | RT | Stroke survivors | Grasping, manipulation | OPD | Tendon-driven | AAM | 14 | All, wrist, forearm | Flexion-extension, opponent, pronation-supination | — | — | — | — | — | — | 19 [47] | RT | Stroke survivors, SCI | Grasping, manipulation | OPD | Tendon-driven | AAM-PAM | 14 | All, wrist, forearm | Flexion-extension, radial-ulnardeviations, pronation-supination | Elastomer | 132 | — | — | CLC | ROM | 20 [73] | AT-RT | Stroke survivors, SCI | Grasping, pinching | CPD | Tendon-driven (5) | AAM-PAM | 12 | All | Flexion-extension | Lycra, fabrics | — | 15 | — | CLC | Grip force | 21 [84] | AT | Hand disability | Grasping, pinching | CPD | Tendon-driven (3) | PAM | 8 | Middle, ring, thumb | Flexion-extension | Synthetic leather | 700 | 20 | — | CLC (PID) | Grasping power test | 22 [85] | AT-RT | Hand disability | Grasping | OPD | Tendon-driven (5) | PAM | 15 | All | Flexion-extension, adduction-abduction | Silicone rubber | — | 17.25 | 165 | CLC | ROM: tactile pressure | 23 [116] | RT | Hand disability | Grasping | OPD | Tendon-driven (5) | PAM | 15 | All | Flexion-extension, adduction-abduction | Elastomer | — | — | — | — | — | 24 [24] | AT | Material handling | Grasping | CPD | Tendon-driven | PAM | — | All | — | Fabrics | — | — | — | CLC | Lift forces | 25 [18] | AT-RT | Hand disability | Grasping, pinching | CPD | Pneumatic (5) | AAM | 14 | All | Flexion-extension | Fabrics | 200 | — | 160 | CLC | ROM | 26 [41] | RT | Stroke survivors | Grasping | CPD | Pneumatic (4) | PAM | 12 | All except thumb | Flexion-extension | Fabrics | 200 | 9.25 | 200 | CLC | fMRI, optical ROM | 27 [43] | AT | Grasp pathologies | Grasping, releasing | CPD | Pneumatic (5) | PAM | 15 | All | Flexion-extension, opponent | Lycra, fabrics | 170 | 13.6 | 153 | CLC | Optical ROM, EMG | 28 [1] | AT-RT | Stroke survivors | Grasping, releasing | OPD | Pneumatic (5) | AAM | 14 | All | Flexion-extension | Neoprene | 150 | — | 100 | CLC | ROM, torque | 29 [106] | AT-RT | Stroke survivors | Grasping, pinching | OPD | Pneumatic (4) | PAM | 12 | All except thumb | Flexion-extension | Lycra, fabrics | 180 | 10.2 | 120 | CLC | fMRI, optical ROM | 30 [44] | AT | Stroke survivors | Grasping, lifting, releasing | OPD | Pneumatic (5) | AAM-PAM | 14 | All | Flexion-extension | Lycra, fabrics | 180 | 12-36 | 120 | CLC | ROM, EMG | 31 [75] | AT-RT | Hand disability | Grasping, manipulation | CPD | Pneumatic (5) | AAM | 14 | All | Flexion-extension | Fabrics | 99 | 13.6 | 275-375 | CLC | Gripping force | 32 [53] | AT | Hand disability | Grasping | CPD | Tendon-driven (1) | PAM | 8 | Index, middle, thumb | Flexion-extension | Synthetic latex | 500 | 10 | — | CLC | ROM, gripping force | 33 [59] | AT | Muscle weakness | Grasping | CPD | Tendon-driven (2) | PAM | 8 | Index, middle, thumb, elbow | Flexion-extension | Neoprene | 1200 | 10 | — | CLC (PD) | ROM, gripping force | 34 [52] | AT | Hand disability | Grasping | CPD | Tendon-driven (3) | PAM | 8 | Index, middle, thumb | Flexion-extension | Neoprene | 500 | — | — | CLC (PD) | ROM, gripping force | 35 [25] | AT-RT | Heavy tasks | Grasping holding | CPD | Tendon-driven (3) | PAM | 14 | All | Flexion-extension | Fabrics | 770 | — | — | CLC | Grasping force | 36 [30] | AT-RT | Hand disability | Grasping, manipulation | OPD | Pneumatic, hybrid (4) | PAM | 12 | All except thumb | Flexion-extension | Nylon | 150 | 2.5 | 230 | CLC | Bending forces, EMG | 37 [48] | RT | Hand disability | Grasping, manipulation | CPD | Pneumatic, hybrid (5) | PAM | 14 | All | Flexion-extension | — | — | — | 165.4 | CLC | ROM, joint angles | 38 [42] | RT | Hand pathologies | Grasping | OPD | Pneumatic elastomers (5) | PAM | 14 | All | Flexion-extension | Textile | — | — | 526 | CLC | ROM, fatigue test | 39 [16] | AT | Hand disability | Grasping, pinching | CPD | Pneumatic (5) | PAM | 15 | All | Flexion-extension, opponent | Synthetic leather | 135 | 9 | 200 | CLC | ROM, EMG | 40 [15] | RT | Stroke survivors | Grasping, releasing, pinching | CPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | Lycra | — | 15 | 60 | CLC (PID) | ROM: FMA, BBT | 41 [31] | RT | Hand disability | Grasping | CPD | Tendon-driven (3) | PAM | 8 | Index, middle, thumb | Flexion-extension | Synthetic leather | — | — | — | CLC | ROM, joint angles | 42 [35] | AT-RT | Hand paralysis | Grasping | CPD | Tendon-driven (1) | PAM | 8 | Index, middle, thumb | Flexion-extension | Polyester fiber | 50 | 35 | — | CLC | ROM, EMG | 43 [117] | AT-RT | Hand disability | Gripping | CPD | Tendon-driven (3) | PAM | 8 | Index, middle, thumb | Flexion-extension | Fabrics | — | — | — | CLC | ROM, gripping force | 44 [118] | AT | Older adults | Gripping | CPD | Tendon-driven (3) | PAM | 8 | Index, middle, thumb | Flexion-extension | Fabrics | 85 | — | — | CLC | Pinch strength, JTHFT | 45 [46] | AT-RT | Hand disability | Gripping | CPD | Tendon-driven (5) | PAM | 14 | All | Flexion-extension | — | — | — | — | CLC | Pinching force, JTHFT test | 46 [54] | RT | Hand disability | Grasping | CPD | Tendon-driven (5) | PAM | 14 | All | Flexion-extension | Fabrics | — | — | — | CLC | ROM, joint angles | 47 [71] | RT | Stroke survivors | Grasping | OPD | Pneumatic (5) | PAM | 16 | All | Flexion-extension, opponent, adduction-abduction | Nylon | — | 20 | — | CLC (PID) | ROM, joint angles | 48 [34] | RT | Stroke survivors | Grasping | CPD | Spring mechanism (5) | PAM | 14 | All | Flexion-extension | Synthetic leather | 200 | 22.59 | — | — | Bending force | 49 [110] | RT | Stroke survivors | Grasping | OPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | — | — | — | — | CLC | Electroencephalography | 50 [89] | AT-RT | Stroke survivors | Gripping | OPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | Elastomer | — | 41.8 | 200 | CLC | EMG, ROM, gripping force | 51 [107] | AT | Hand disability | Grasping, manipulation | CPD | Cable-driven (4) | PAM | 11 | All except little | Flexion-extension | — | 250 | 16 | — | CLC | ROM, pinching force | 52 [67] | RT | Hand disability | Grasping | CPD | Pneumatic (4) | PAM | 12 | All except thumb | Flexion-extension | Nylon | — | 3 | 200 | — | FEM & ROM | 53 [119] | AT | Hand disability | Grasping, manipulation | OPD | Pneumatic artificial muscles (5) | PAM | 14 | All | Flexion-extension | Fabrics | 161 | 10 | 200 | — | FEM, fingertip force | 54 [120] | AT-RT | Older adults | Grasping, manipulation | OPD | Tendon-driven (5) | PAM | 14 | All | Flexion-extension | TPU, NINJAFLEX™ | 50 | 40 | 60 | CLC | Pressure regulation & fingertip force | 55 [74] | AT-RT | Hand disability | Grasping, pinching | OPD | Tendon-driven (5) | PAM | 14 | All | Flexion-extension | TPU | 330 | 22 pinch, 48 grasp | — | CLC | Pinching and grasping forces | 56 [55] | AT-RT | Hand disability | Grasping | CPD | Shape memory alloys (5) | PAM | 14 | All | Flexion-extension | Fabrics | — | 40 | — | CLC | ROM, fingertip-tendon force | 57 [4] | AT | Stroke survivors | Grasping, manipulation | OCP | Tendon-driven (5) | PAM | 12 | All except thumb | Flexion-extension | Polymer | 340 | — | — | CLC | Gripping force | 58 [112] | AT | CP, stroke survivors | Grasping | CPD | Tendon-driven (3) | PAM | 8 | Thumb, index, and middle | Flexion-extension | Synthetic leather | 55 | 48 | — | CLC | Grasping and fingertip forces | 59 [121] | AT | Supportive aid | Grasping | CPD | Shape memory alloys (5) | PAM | 12 | All except little | Flexion-extension, radial abduction, palmar abduction, opposition | Synthetic leather | 85.03 | 11 | — | CLC | Grasping force, ROM | 60 [122] | RT | Stroke survivors | Grasping | OPD | Pneumatic (1) | PAM | 3 | Index | Flexion-extension | Ecoflex™ 00-30 | — | 1.17 | 30 | CLC | Bending angle | 61 [13] | AT | Older adults, hand disability | Grasping, pinching | CPD | Pneumatic artificial muscles (5) | PAM | 14 | All | Flexion-extension | Rubber | — | 5.7-14, 20-25 | 500 | CLC | Grasping and pinching forces | 62 [109] | AT | SCI | Grasping | CPD | Tendon-driven (3) | PAM | 8 | Thumb, index, and middle | Flexion-extension | — | — | 7.39 | — | CLC | Writing tasks, grasping force | 63 [7] | AT-RT | Stroke survivors | Grasping | CPD | Pneumatic, tendon-driven (5) | PAM | 14 | All | Flexion-extension | Nylon | — | 5 | 300 | CLC | Ashworth test | 64 [123] | RT | Stroke survivors | Grasping | CPD | Tendon-driven (4) | PAM | 12 | All except thumb | Flexion-extension | — | — | — | — | CLC | FMA test | 65 [82] | RT | Hand disability | Grasping | OPD | Pneumatic FREAs (5) | PAM | 14 | All | Flexion-extension | Nylon | 280 | 11.27 | 250 | CLC | Grasping test FEM | 66 [108] | RT | Hand disability | Grasping | OPD | Pneumatic FREAs (1) | PAM | 1 | Thumb | Opposition | Elastomer | 586 | — | 150 | CLC | Kapandji test | 67 [124] | AT | Stroke survivors | Grasping | OPD | Pneumatic FREAs (5) | PAM | 14 | All | Flexion-extension | Silicone rubber | 207 | — | 200 | CLC | Bending force FEM | 68 [125] | AT | SCI | Grasping, manipulation | OPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | Fabric | 77 | 15 | 172 | CLC | Lifting force | 69 [99] | AT | Stroke survivors | Grasping | CPD | Electrical | PAM | 15 | All, wrist | Flexion-extension | Neoprene fabric | — | — | — | CLC | BBT test | 70 [98] | RT | Stroke survivors | Grasping | CPD | Tendon-driven (1) | PAM | 3 | Index, wrist | Flexion-extension | Lycra | — | — | — | CLC | ROM | 71 [61] | RT | Kinesthetics, haptic feedbacks | Pressing | OPD | Pneumatic (2) | PAM | 6 | Index and middle | Flexion | Silicone rubber | — | 16.66 | 210 | CLC | Virtual reality haptic feedback | 72 [126] | AT | Hand disabilities | Grasping, holding | CPD | Pneumatic (4) | PAM | 15 | All | Flexion-extension, opposition | — | 65 | — | — | CLC | Grabbing force | 73 [57] | AT | Hand disabilities | Grasping | CPD | Pneumatic (4) | PAM | 11 | All except little | Flexion-extension | — | 160 | 25 | 500 | CLC | Bending angle | 74 [127] | AT | Hand disabilities | Grasping | CPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | Elastomer | 180 | 3 | 300 | CLC | Grasping force | 75 [68] | RT | Stroke survivors | Grasping | CPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | Latex | — | — | — | CLC proportional | Bending angle | 76 [72] | RT | Stroke survivors | Grasping | OPD | Tendon-driven (5) | PAM | 9 | Thumb, index, and middle | Flexion-extension, opposition/reposition | Silicone KE-1300 T | 120 | 12 | — | CLC | Bending angle | 77 [49] | AT | Stroke survivors | Grasping | CPD | Tendon-driven (5) | PAM | 12 | All except thumb | Flexion-extension | Lycra | — | 16-17 | — | CLC | Fingertip force ROM | 78 [100] | RT | Stroke survivors | Grasping | CPD | Tendon-driven (5) | AAM-PAM | 14 | All | Flexion-extension | Elastomer | >1000 | — | — | CLC (PD) | Fingertip force ROM | 79 [69] | AT-RT | Hand disabilities | Grasping | CPD | Pneumatic FREA (5) | PAM | 16 | All | Flexion-extension, opponent, adduction-abduction | Polyester | 76 | 0.8 | 150 | CLC | Bending angle and force output | 80 [88] | RT | Stroke survivors | Grasping | OPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | RTV-4234T4, silicon | — | — | 50 | CLC (PD) | Bending angle | 81 [40] | RT | Stroke survivors | Grasping | CPD | Tendon-driven (5) | PAM | 14 | All | Flexion-extension | Fabrics | — | — | — | — | Virtual reality, FMA | 82 [10] | AT | Hand disabilities | Grasping | Semiopen | Motor-tendon (5) | PAM | 14 | All | Flexion-extension | Cotton fabric | 600 | — | — | On-off control | Grasping force output | 83 [90] | AT | Hand disabilities | Grasping | CPD | Tendon-driven (5) | PAM | 12 | All except little | Flexion-extension, opponent | — | 220 | 83 | — | CLC | Grasping force ROM | 84 [26] | AT | Heavy tasks | Manipulation tasks | CPD | Tendon-driven SMA (5) | PAM | 14 | All | Flexion-extension | Rubber | — | 70 | — | CLC (PID) | Force output | 85 [104] | AT | Hand disabilities | Grasping, releasing | CPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | Fabric | 160 | 88.29 | 180 | — | EMG signals | 86 [91] | RT | Hand disabilities | Grasping | CPD | Steel spring | AAM-PAM | 14 | All | Flexion-extension | — | 401 | 30.87 | — | CLC | ROM, force output, EEG signals | 87 [58] | RT | Hand disabilities | Grasping | CPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | — | 150 | 40 | 300 | OLC | EMG signals, grasping forces | 88 [96] | AT | Stroke survivors | Grasping | CPD | Tendon-driven (5) | AAM-PAM | 10 | All | Flexion-extension | Nylon | 258 | — | — | OLC | EMG signals, grasping and lifting forces | 89 [103] | RT | Stroke survivors | Grasping | CPD | Tendon-driven SMA (5) | PAM | 14 | All | Flexion-extension | — | — | — | — | — | Teleoperation, time output | 90 [101] | RT | Stroke survivors | Grasping | CPD | Pneumatic (5) | PAM | 14 | All | Flexion-extension | RTV-4234T4, silicon | — | — | 105 | CLC (PD) | Finger trajectories and angle | 91 [20] | AT | Hand disabilities | Grasping | CPD | Tendon-driven (5) | PAM | 14 | All | Flexion-extension | Polyester and neoprene | — | — | — | CLC | Griping force and FMG signals |
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