Rehabilitation and assistive devices using dielectric elastomers materials for upper limbs. (a) Elbow rehabilitation robots actuated by a stacked dielectric elastomer actuator (DEA) [77]. (b) Hand splints for finger rehabilitation and (c) mechanism [78]. (d) Elbow joint rehabilitation device actuated by a 3×5 DEA array [79]. (e) Hand assistant DEA-based soft skeleton actuated by Twisted and Coiled Polymer (TCP) muscles [80]. (f) Concept of a hand rehabilitation system actuated by a spring roll DEA and (g) mechanisms and prototype [81].