This paper provides a comprehensive review of robotic devices for upper limb rehabilitation, aiming to address the growing need for physical rehabilitation among physically disabled individuals. The review covers both existing and developing robotic solutions, focusing on application fields, target groups, types of assistance, mechanical design, control strategies, and clinical evaluation. The paper includes a detailed comparison of various technical solutions implemented in different systems, highlighting the strengths and weaknesses of each approach. The scope of the survey is limited to advanced technology systems that include sensors, actuators, and control units, excluding purely mechanical solutions. The paper discusses the advantages and limitations of different types of assistance, such as active, passive, haptic, and coaching, and explores the mechanical design of end-effector-based and exoskeleton-based systems. It also examines actuation methods, control signals, feedback mechanisms, and control strategies, including high-level and low-level approaches. The review aims to provide a valuable reference for engineers, scientists, and physiotherapists working on new solutions for physical rehabilitation.This paper provides a comprehensive review of robotic devices for upper limb rehabilitation, aiming to address the growing need for physical rehabilitation among physically disabled individuals. The review covers both existing and developing robotic solutions, focusing on application fields, target groups, types of assistance, mechanical design, control strategies, and clinical evaluation. The paper includes a detailed comparison of various technical solutions implemented in different systems, highlighting the strengths and weaknesses of each approach. The scope of the survey is limited to advanced technology systems that include sensors, actuators, and control units, excluding purely mechanical solutions. The paper discusses the advantages and limitations of different types of assistance, such as active, passive, haptic, and coaching, and explores the mechanical design of end-effector-based and exoskeleton-based systems. It also examines actuation methods, control signals, feedback mechanisms, and control strategies, including high-level and low-level approaches. The review aims to provide a valuable reference for engineers, scientists, and physiotherapists working on new solutions for physical rehabilitation.