## 1 Introduction
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**System**} & \multicolumn{1}{c}{\begin{tabular}{c} **No. of Actuated** \\ **Movements** \\ \end{tabular} } & \multirow{2}{*}{**Training Mode**} & \multirow{2}{*}{**Transmission Schematic**} & \multirow{2}{*}{**Type of Actuator**} & \multicolumn{1}{c}{\
\begin{tabular}{c} **Mechanical** \\ **Structure Type** \\ \end{tabular} } & \multirow{2}{*}{
\begin{tabular}{c} **Supported** \\ **Movements** \\ \end{tabular} } \\ \hline
[29] & 2 & Passive & parallel mechanism & 2* & Servo motors & Exoskeleton &
\begin{tabular}{c} Elbow (F/E) and \\ shoulder (F/E) \\ \end{tabular} \\
[00] & 1 & Passive and active & SPRM) with the & DC motor & Exoskeleton & 1 finger \\
[31] & 2 & Passive and active & parallel mechanism & 2* & pneumatic actuator & End-effector & Wrist (F/E, R/U) \\
[32] & 6 & CPM & rope + toothed belt & DC motors & End-effector and & shoulder (F/E, L/E), elbow (F/E), wrist (F/E). \\
[33] & 1 & Active and Passive & \begin{tabular}{c} Cable-driven and \\ differential rotation \\ \end{tabular} & PMS & exoskeleton & 1 finger (F/E) \\ Our FWRMS & 7 & CPM & \
\begin{tabular}{c} Indirect screw \\ nut mechanism \\ and rotational \\ \end{tabular} & 1* & Electrical Stepper & End-effector and &
\begin{tabular}{c} 4 Fingers (F/E), \\ grounded- \\ exoskeleton \\ \end{tabular} \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Recent elated work. Figure 1: Overview of Fingers and Wrist Rehabilitation Mechatronic System (FWRMS) targeted movements; (**a**) Fingers flexion/extension; (**b**) Wrist flexion/extension; (**c**) Wrist Radial/ulnar deviation; (d) Forearm pronation/supination. In [29], the authors developed a 3D printed, wearable exoskeleton configuration based on a hybrid control system that incorporates impedance and admittance controls to define the workspace trajectory, then corrects these trajectories using electromyographic (EMG) feedback signals with two degrees of freedom, targeting the upper limb to provide elbow and shoulder joint flexion and expansion gestures. In [30], the authors designed a wearable exoskeleton mechatronics system based on active and passive control approaches for single-finger rehabilitation. The proposed device is operated by a field-programmable gate array (FPGA) and controlled through an Android smartphone application. They employed an asymmetric pinion and rack system (SPRM), which is driven through a parallel mechanism. The developed approach is a portable mechatronics system that utilizes a DC motor. The authors used a rear-mounted module placed on the patient's forearm, which connected a Bowden cable's hand exoskeleton design. In [31], the authors developed a parallel wrist rehabilitation robot (PWRR), suitable mostly for patients suffering hypertonia, stroke, or wrist injuries. The proposed approach is based on an end-effector structure that performs constant rehabilitation training for the wrist joints, consisting of two rotational DOFs for wrist F/E and R/U movements. Two pneumatic actuators power the proposed PWRR to transfer the movement to the wrist R/U and F/E joints, respectively. Authors in [32], developed a heavy stationary end-effector robot performing in total six DOFs: dividing as (1), three DOF of the shoulder joint with different: (F/E), internal/external rotation (I/E), abduction/adduction (A/A); (2), one DOF of the elbow joint: (F/E); one DOFs: (I/E); one DOF of the wrist joint: (F/E). The proposed end-effector system with a tension mechanism based on cable-driven modular parallel joint driven by a toothed belt, the transmission mechanism used a rear-mount to transmit motion for the end joints, derived by DC Servo motors and harmonic motors. The authors used an external computer-controlled machine to perform continuous passive rehabilitation. In [33], the authors develop a single finger exoskeleton robot that can provide active and passive rehabilitation.