ToC Figure.  Overview of the current state-of-the-art in soft actuators and robotic devices for rehabilitation and assistance, actuated using pneumatic and hydraulic fluid-power, electrical motors, chemical reactions, dielectric elastomers, shape memory alloys, magnetoactive elastomers (MAEs), liquid crystal elastomers (LCEs) and piezoelectric materials. The % is the percentage of the number of the literatures with a certain actuation mechanism to the total number.