## 2 Related Work
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Name of the Robot** & **Active DOF** & **Kinematic Structure** & **Power Transmission** & **Actuator Type** & **Applied Joints and Supported Movements** \\ \hline L-Exo [24] & 4 & SM & LM, GD & EM & EW (F/E), SR (AB/AD, F/E, I/E). \\ \hline IntelliArm [25] & 8 & SM & LM, CD & EM & WT (F/E), SR (+1 ODF), Hand (+1 ODF) \\ \hline Hand motion assist robot [26] & 18 & SM & LM & EM & EW (P/S), WT (F/E), Hand (+16 DOF). \\ \hline Soft actuated & 7 & SM & LM, CD & PA & SR (AB/AD, F/E, I/E), EW (P/S, F/E),  WT (F/E, U/R). \\ \hline T-WREX [28] & 5 & PM & LM & EM & SR (AB/AD, F/E, I/E), EW (P/S, F/E). \\ \hline Dampaco [29] & 5 & SM & LM, CD & HA & SR (AB/AD, F/E, I/E), EW (P/S, F/E). \\ \hline Smart portable device [30] & 2 & PM & LM & EM & EW (F/E, P/S). \\ \hline Physiotherapeutic & 5 & SM & LM & EM & EW (F/E), SR (AB/AD, F/E, I/E), WT (+1 ODF), (+1 ODF) \\ \hline iPAM [32] & 6 & SM & LM & PA & SR (AB/AD, F/E, I/E), EW(F/E), SR (+2 DOF). \\ \hline HEXORR [33] & 3 & SM & LM & EM & EW (F), WT (F), WT (+1 DOF). \\ \hline RUPERT [34] & 4 & SM & LM & PA & SR (F), EW (E, S), WT (E). \\ \hline MEDARM [35] & 6 & SM & LM, CD & EM & SR (AB/AD, F/E, I/E), EW (F/E), SR (+2 DOF). \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Robots used in rehabilitation. actuators. The device with series-elastic actuators employs force control as a control strategy. One of the devices uses EMG and all others use a preset control strategy. The robot-patient interaction control approach can be broadly classified into two types based on the signal utilized to determine the active movement intention: (i) control methods based on biomedical signals and (ii) control methods based on force signals. Seven of these devices use the link for force transmission mode, while two devices use a cable and link combination, and remaining use either cable and chain, spring and link, or rope and connecting rod combinations. Then, in 2023, [PERSON] et al. [5] presented a systematic review on parallel robots used in the fields of assistive technologies, humanoids, and rehabilitation robots. Robots for rehabilitation are applied to help people who have been injured or ill to regain their strength, functionality, and motor skills. The purpose of assistive robots is to assist people in carrying out daily tasks. Robots called \"humanoid\" are a remarkable technological development. They resemble and reproduce human anatomy and behaviour. An updated summary of the field's developments from 2012 to 2023 was provided by this systematic review. Thirteen publications in this cohort dealt with the neck joint, nine with the hip joint, twenty-two with the wrist joint, nine with the shoulder joint, and thirty with the ankle joint. Eight devices have been designed and developed for wrist rehabilitation in Australia, China, USA, and Japan. Five devices are at level TRL 3 and three devices are at TRL 4. Technology maturity is measured as a technology moves through the phases of research, development, and deployment using technology readiness levels, or TRLs. TRLs are rated from 1 to 9, where the most advanced technology is denoted by level 9. The technical maturity is estimated from conceptual models in their early stages (TRL 1) to fully functional systems (TRL 9). With the highest percentage of robots, TRL 3 suggests that a substantial amount of research has advanced to the proof-of-concept and prototype-building phases. TRL 4 indicates continued improvements in parallel robot systems, which could lead to a more practical application of these systems in rehabilitation environments. The devices use 3-RPS, 2-URR/RRS, 3-RRR, 6-SPS/PS, 3-RPR, cable-driven, and two 4-BMA (four biomimetic actuators) mechanisms. The 3-RPS mechanism has two DOFs and all remaining mechanisms have three DOFs. The 3-RPS and 2-URR/RRS mechanisms perform flexion/extension and adduction/abduction motions only, whereas all other mechanisms perform pronation/supination motions additionally.