Review Article

Design Criteria of Soft Exogloves for Hand Rehabilitation-Assistance Tasks

Table 3

Soft exoglove design criterion classification.

SEG # (Ref.)FunctionApplicationTaskPalm designActuation (number)Assistance modeDOF/fingerFingersMotionMaterialWeight (g)Force (N)Pressure (kPa)ControlAssessment

1 [14]ATStroke survivors, SCIGraspingCPDTendon-driven (1)PAM8Index, middle, thumbFlexion-extensionSynthetic latex8018CLCFingertip and blocked force
2 [17]AT-RTHand disabilityGraspingCPDTendon-driven (3)PAM8Index, middle, thumbFlexion-extensionSynthetic latexCLC (PI, PD)EMG
3 [19]ATStroke survivors, SCIGraspingCPDTendon-driven (3)PAM8Index, middle, thumbFlexion-extensionSynthetic latex19420CLCEMG
4 [21]ATHand disabilityGraspingOPDTendon-driven (2)PAM8Index, middle, thumbFlexion-extensionSilicone KE-130020EMG
5 [23]ATHand disabilityGrasping, pinchingOPDPneumatic (4)PAM11Index, middle, thumbFlexion-extension, adduction-abductionSilicone KE-1300 T35022.5300CLCROM, grip strength
6 [22]ATSCIGrasping, pinchingOPDTendon-driven (3)PAM9Index, middle, thumbFlexion-extension, opponentSilicone KE-1300 T10410.3CLCGrip strength
7 [8]RTHand disabilityGrasping, pinchingOPDPneumatic elastomer (4)PAM14All except thumbFlexion-extension, curlNeoprene160CLCFEM analysis
8 [51]AT-RTHand disabilityGrasping, pinchingOPDHydraulic elastomer (2)PAM15AllFlexion-extension, opponentNeoprene400CLCROM, EMG
9 [11]AT-RTSCIGraspingOPDHydraulic elastomer (2)PAM15AllFlexion-extension, opponentTextile10-15CLCROM, BBT
10 [50]ATHand disabilityGrasping, holdingOPDHydraulic elastomersPAM15AllFlexion-extension, opponentElastomer14413CLCROM, EMG
11 [36]RTStroke survivorsGrippingOPDPneumaticPAM16AllFlexion-extension, opponent, adduction-abductionROM: MI, BBT, FIM
12 [105]AT-RTHemiplegic patientsGripping, pinchingOPDPneumaticPAM16AllFlexion-extension, opponent, adduction-abductionROM: MI, NHPT test
13 [45]AT-RTStroke, SCIGripping, pinchingOPDPneumaticAAM-PAM16AllFlexion-extension, opponent, adduction-abductionROM: NHPT, FIM test
14 [113]RTStroke, SCIGripping, pinchingOPDPneumaticAAM-PAM15AllFlexion-extension, opponent, adduction-abductionROM: MI, NHPT test
15 [38]RTStroke survivorsGrippingOPDElectrical (5)PAM15All, wristFlexion-extension, opponent, adduction-abductionAshworth index
16 [114]ATGraspingCPDHydraulicPAM14AllFlexion-extension262012550CLCPressure regulating
17 [39]RTStroke survivors, SCIGrasping, manipulationOPDTendon-drivenAAM-PAM14All, wrist, forearmFlexion-extension, opponent, pronation-supinationROM: FMA, JTT, PPT
18 [115]RTStroke survivorsGrasping, manipulationOPDTendon-drivenAAM14All, wrist, forearmFlexion-extension, opponent, pronation-supination
19 [47]RTStroke survivors, SCIGrasping, manipulationOPDTendon-drivenAAM-PAM14All, wrist, forearmFlexion-extension, radial-ulnardeviations, pronation-supinationElastomer132CLCROM
20 [73]AT-RTStroke survivors, SCIGrasping, pinchingCPDTendon-driven (5)AAM-PAM12AllFlexion-extensionLycra, fabrics15CLCGrip force
21 [84]ATHand disabilityGrasping, pinchingCPDTendon-driven (3)PAM8Middle, ring, thumbFlexion-extensionSynthetic leather70020CLC (PID)Grasping power test
22 [85]AT-RTHand disabilityGraspingOPDTendon-driven (5)PAM15AllFlexion-extension, adduction-abductionSilicone rubber17.25165CLCROM: tactile pressure
23 [116]RTHand disabilityGraspingOPDTendon-driven (5)PAM15AllFlexion-extension, adduction-abductionElastomer
24 [24]ATMaterial handlingGraspingCPDTendon-drivenPAMAllFabricsCLCLift forces
25 [18]AT-RTHand disabilityGrasping, pinchingCPDPneumatic (5)AAM14AllFlexion-extensionFabrics200160CLCROM
26 [41]RTStroke survivorsGraspingCPDPneumatic (4)PAM12All except thumbFlexion-extensionFabrics2009.25200CLCfMRI, optical ROM
27 [43]ATGrasp pathologiesGrasping, releasingCPDPneumatic (5)PAM15AllFlexion-extension, opponentLycra, fabrics17013.6153CLCOptical ROM, EMG
28 [1]AT-RTStroke survivorsGrasping, releasingOPDPneumatic (5)AAM14AllFlexion-extensionNeoprene150100CLCROM, torque
29 [106]AT-RTStroke survivorsGrasping, pinchingOPDPneumatic (4)PAM12All except thumbFlexion-extensionLycra, fabrics18010.2120CLCfMRI, optical ROM
30 [44]ATStroke survivorsGrasping, lifting, releasingOPDPneumatic (5)AAM-PAM14AllFlexion-extensionLycra, fabrics18012-36120CLCROM, EMG
31 [75]AT-RTHand disabilityGrasping, manipulationCPDPneumatic (5)AAM14AllFlexion-extensionFabrics9913.6275-375CLCGripping force
32 [53]ATHand disabilityGraspingCPDTendon-driven (1)PAM8Index, middle, thumbFlexion-extensionSynthetic latex50010CLCROM, gripping force
33 [59]ATMuscle weaknessGraspingCPDTendon-driven (2)PAM8Index, middle, thumb, elbowFlexion-extensionNeoprene120010CLC (PD)ROM, gripping force
34 [52]ATHand disabilityGraspingCPDTendon-driven (3)PAM8Index, middle, thumbFlexion-extensionNeoprene500CLC (PD)ROM, gripping force
35 [25]AT-RTHeavy tasksGrasping holdingCPDTendon-driven (3)PAM14AllFlexion-extensionFabrics770CLCGrasping force
36 [30]AT-RTHand disabilityGrasping, manipulationOPDPneumatic, hybrid (4)PAM12All except thumbFlexion-extensionNylon1502.5230CLCBending forces, EMG
37 [48]RTHand disabilityGrasping, manipulationCPDPneumatic, hybrid (5)PAM14AllFlexion-extension165.4CLCROM, joint angles
38 [42]RTHand pathologiesGraspingOPDPneumatic elastomers (5)PAM14AllFlexion-extensionTextile526CLCROM, fatigue test
39 [16]ATHand disabilityGrasping, pinchingCPDPneumatic (5)PAM15AllFlexion-extension, opponentSynthetic leather1359200CLCROM, EMG
40 [15]RTStroke survivorsGrasping, releasing, pinchingCPDPneumatic (5)PAM14AllFlexion-extensionLycra1560CLC (PID)ROM: FMA, BBT
41 [31]RTHand disabilityGraspingCPDTendon-driven (3)PAM8Index, middle, thumbFlexion-extensionSynthetic leatherCLCROM, joint angles
42 [35]AT-RTHand paralysisGraspingCPDTendon-driven (1)PAM8Index, middle, thumbFlexion-extensionPolyester fiber5035CLCROM, EMG
43 [117]AT-RTHand disabilityGrippingCPDTendon-driven (3)PAM8Index, middle, thumbFlexion-extensionFabricsCLCROM, gripping force
44 [118]ATOlder adultsGrippingCPDTendon-driven (3)PAM8Index, middle, thumbFlexion-extensionFabrics85CLCPinch strength, JTHFT
45 [46]AT-RTHand disabilityGrippingCPDTendon-driven (5)PAM14AllFlexion-extensionCLCPinching force, JTHFT test
46 [54]RTHand disabilityGraspingCPDTendon-driven (5)PAM14AllFlexion-extensionFabricsCLCROM, joint angles
47 [71]RTStroke survivorsGraspingOPDPneumatic (5)PAM16AllFlexion-extension, opponent, adduction-abductionNylon20CLC (PID)ROM, joint angles
48 [34]RTStroke survivorsGraspingCPDSpring mechanism (5)PAM14AllFlexion-extensionSynthetic leather20022.59Bending force
49 [110]RTStroke survivorsGraspingOPDPneumatic (5)PAM14AllFlexion-extensionCLCElectroencephalography
50 [89]AT-RTStroke survivorsGrippingOPDPneumatic (5)PAM14AllFlexion-extensionElastomer41.8200CLCEMG, ROM, gripping force
51 [107]ATHand disabilityGrasping, manipulationCPDCable-driven (4)PAM11All except littleFlexion-extension25016CLCROM, pinching force
52 [67]RTHand disabilityGraspingCPDPneumatic (4)PAM12All except thumbFlexion-extensionNylon3200FEM & ROM
53 [119]ATHand disabilityGrasping, manipulationOPDPneumatic artificial muscles (5)PAM14AllFlexion-extensionFabrics16110200FEM, fingertip force
54 [120]AT-RTOlder adultsGrasping, manipulationOPDTendon-driven (5)PAM14AllFlexion-extensionTPU, NINJAFLEX™504060CLCPressure regulation & fingertip force
55 [74]AT-RTHand disabilityGrasping, pinchingOPDTendon-driven (5)PAM14AllFlexion-extensionTPU33022 pinch, 48 graspCLCPinching and grasping forces
56 [55]AT-RTHand disabilityGraspingCPDShape memory alloys (5)PAM14AllFlexion-extensionFabrics40CLCROM, fingertip-tendon force
57 [4]ATStroke survivorsGrasping, manipulationOCPTendon-driven (5)PAM12All except thumbFlexion-extensionPolymer340CLCGripping force
58 [112]ATCP, stroke survivorsGraspingCPDTendon-driven (3)PAM8Thumb, index, and middleFlexion-extensionSynthetic leather5548CLCGrasping and fingertip forces
59 [121]ATSupportive aidGraspingCPDShape memory alloys (5)PAM12All except littleFlexion-extension, radial abduction, palmar abduction, oppositionSynthetic leather85.0311CLCGrasping force, ROM
60 [122]RTStroke survivorsGraspingOPDPneumatic (1)PAM3IndexFlexion-extensionEcoflex™ 00-301.1730CLCBending angle
61 [13]ATOlder adults, hand disabilityGrasping, pinchingCPDPneumatic artificial muscles (5)PAM14AllFlexion-extensionRubber5.7-14, 20-25500CLCGrasping and pinching forces
62 [109]ATSCIGraspingCPDTendon-driven (3)PAM8Thumb, index, and middleFlexion-extension7.39CLCWriting tasks, grasping force
63 [7]AT-RTStroke survivorsGraspingCPDPneumatic, tendon-driven (5)PAM14AllFlexion-extensionNylon5300CLCAshworth test
64 [123]RTStroke survivorsGraspingCPDTendon-driven (4)PAM12All except thumbFlexion-extensionCLCFMA test
65 [82]RTHand disabilityGraspingOPDPneumatic FREAs (5)PAM14AllFlexion-extensionNylon28011.27250CLCGrasping test FEM
66 [108]RTHand disabilityGraspingOPDPneumatic FREAs (1)PAM1ThumbOppositionElastomer586150CLCKapandji test
67 [124]ATStroke survivorsGraspingOPDPneumatic FREAs (5)PAM14AllFlexion-extensionSilicone rubber207200CLCBending force FEM
68 [125]ATSCIGrasping, manipulationOPDPneumatic (5)PAM14AllFlexion-extensionFabric7715172CLCLifting force
69 [99]ATStroke survivorsGraspingCPDElectricalPAM15All, wristFlexion-extensionNeoprene fabricCLCBBT test
70 [98]RTStroke survivorsGraspingCPDTendon-driven (1)PAM3Index, wristFlexion-extensionLycraCLCROM
71 [61]RTKinesthetics, haptic feedbacksPressingOPDPneumatic (2)PAM6Index and middleFlexionSilicone rubber16.66210CLCVirtual reality haptic feedback
72 [126]ATHand disabilitiesGrasping, holdingCPDPneumatic (4)PAM15AllFlexion-extension, opposition65CLCGrabbing force
73 [57]ATHand disabilitiesGraspingCPDPneumatic (4)PAM11All except littleFlexion-extension16025500CLCBending angle
74 [127]ATHand disabilitiesGraspingCPDPneumatic (5)PAM14AllFlexion-extensionElastomer1803300CLCGrasping force
75 [68]RTStroke survivorsGraspingCPDPneumatic (5)PAM14AllFlexion-extensionLatexCLC proportionalBending angle
76 [72]RTStroke survivorsGraspingOPDTendon-driven (5)PAM9Thumb, index, and middleFlexion-extension, opposition/repositionSilicone KE-1300 T12012CLCBending angle
77 [49]ATStroke survivorsGraspingCPDTendon-driven (5)PAM12All except thumbFlexion-extensionLycra16-17CLCFingertip force ROM
78 [100]RTStroke survivorsGraspingCPDTendon-driven (5)AAM-PAM14AllFlexion-extensionElastomer>1000CLC (PD)Fingertip force ROM
79 [69]AT-RTHand disabilitiesGraspingCPDPneumatic FREA (5)PAM16AllFlexion-extension, opponent, adduction-abductionPolyester760.8150CLCBending angle and force output
80 [88]RTStroke survivorsGraspingOPDPneumatic (5)PAM14AllFlexion-extensionRTV-4234T4, silicon50CLC (PD)Bending angle
81 [40]RTStroke survivorsGraspingCPDTendon-driven (5)PAM14AllFlexion-extensionFabricsVirtual reality, FMA
82 [10]ATHand disabilitiesGraspingSemiopenMotor-tendon (5)PAM14AllFlexion-extensionCotton fabric600On-off controlGrasping force output
83 [90]ATHand disabilitiesGraspingCPDTendon-driven (5)PAM12All except littleFlexion-extension, opponent22083CLCGrasping force ROM
84 [26]ATHeavy tasksManipulation tasksCPDTendon-driven SMA (5)PAM14AllFlexion-extensionRubber70CLC (PID)Force output
85 [104]ATHand disabilitiesGrasping, releasingCPDPneumatic (5)PAM14AllFlexion-extensionFabric16088.29180EMG signals
86 [91]RTHand disabilitiesGraspingCPDSteel springAAM-PAM14AllFlexion-extension40130.87CLCROM, force output, EEG signals
87 [58]RTHand disabilitiesGraspingCPDPneumatic (5)PAM14AllFlexion-extension15040300OLCEMG signals, grasping forces
88 [96]ATStroke survivorsGraspingCPDTendon-driven (5)AAM-PAM10AllFlexion-extensionNylon258OLCEMG signals, grasping and lifting forces
89 [103]RTStroke survivorsGraspingCPDTendon-driven SMA (5)PAM14AllFlexion-extensionTeleoperation, time output
90 [101]RTStroke survivorsGraspingCPDPneumatic (5)PAM14AllFlexion-extensionRTV-4234T4, silicon105CLC (PD)Finger trajectories and angle
91 [20]ATHand disabilitiesGraspingCPDTendon-driven (5)PAM14AllFlexion-extensionPolyester and neopreneCLCGriping force and FMG signals