## 7 Discussion
\begin{table}
\begin{tabular}{c c c c c} \hline
**Feature** & **Feature Detail** & **Rigid** & **Soft** & **Hybrid** \\ \hline \multirow{9}{*}{Amplitude} & & & For the PIFI joint of the finger, there is & \\  & & For the flexion/extension motion, rigid & considerable uniform of the values & \\  & & solutions generally allow quite a wide & the other joints, there are considerable & \\  & & movement amplitude for the & differences between the values obtained & \\  & & flexion/extension motion of the fingers. & with the different devices. The values & \\  & & Solutions for thumb actuation are & obtained for PIFI correspond fairly well to \\  & & less exploited. & those of a normal hand [82] for the other & \\  & & joints, the values are comparable in some & \\  & & & cases and much lower in others. & \\ \hline \multirow{9}{*}{Fores} & \multirow{3}{*}{Max. Liftable mass} & & The maximum force values are very different & The maximum force values are very different depending on the type of & \\  & & coexistence relation application and realization. & & actuator. Toilet force values between 10 & \\  & & & and 150 N can be reached. & \\  & & & The maximum liftable mass can be very & \\  & & Explicit data on the liftable mass are not & high, ranging from 20 g for soft & Not enough data have been provided to \\  & & enough and are quite heterogenous, & preu-mesh actuators to 100 g for textile & permit an evaluation within this \\  & & indicating a reliable average value. & actuators with TFE and even up to 3000 g & \\  & & & for soft fracture actuators. & \\  & & & A rigid exoskeleton allows the exploitation of & \\  & & transmission system kinematics and & & The integration of precise force sensors & \\  & & kinetostatics to estimate the forces applied at & into a soft glove is not very easy, but it is & \\  & & the fingertips or at the plungings by means & possible to accurately measure the & \\  & & indirect measures, for instance, motor current & pressure and to obtain an estimate of the & \\  & & or force sensors positioned in the proximal & force from this measurement. & \\ \hline \multirow{9}{*}{Ergonomics} & & Although ergonomics is one of the aspects & Very good ergonomics can be achieved with soft exoskeletons due to the compactness and flexibility of the & The exoskeleton has been purposefully designed to improve user comfort with an emphasis on ergonomic characteristics that enhance its suitability for continuous use. \\  & & that is considered in rigid exoskeleton design, rigid exoskeletons are often bulker, stiffer, and less comfortable than rigid or & Very good ergonomics can be achieved with soft exoskeletons due to the compactness and flexibility of the actuators used. & The exoskeleton has been purposefully designed to improve user comfort with an emphasis on ergonomic characteristics that enhance its suitability for continuous use. \\ \cline{1-1}  & & & \\ \cline{1-1}  & & & \\ \cline{1-1}  & & & \\ \cline{1-1}  & & & \\ \cline{1-1}  & & & \\ \end{tabular}
\end{table} 
Table 7: _Cont._  
\begin{table}
\begin{tabular}{p{42.7 pt} p{85.4 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline
**Feature** & **Feature Detail** & **Rigid** & **Soft** & **Hybrid** \\ \hline \multirow{4}{*}{Wearability} & \multirow{4}{*}{Customizability} & \multicolumn{3}{c}{This aspect is rather heterogeneous among the different solutions in some cases, the rigid structure is tailored for a specific user’s anthropometric characteristics and is poorly antagonistic, while in other cases, the employed transmission mechanism allows the adaptation to different users.} & \multicolumn{1}{p{113.8 pt}}{In this way, users can customize the eoskeleton based on their own individual requirements and anthropometric measurements, ensuring a highly personalized and flexible experience.}