This paper presents a comprehensive review of robotic devices for upper limb rehabilitation, including those in the development phase. The review discusses various aspects such as application fields, target groups, types of assistance, mechanical design, control strategies, and clinical evaluations. It includes a detailed comparison of technical solutions implemented in various systems. The review highlights the growing need for robotic devices due to the shortage of therapists and the increasing number of patients requiring upper limb rehabilitation. The paper also addresses the limitations of current devices and the potential of robotic systems to improve rehabilitation outcomes. It covers different types of robotic devices, including end-effector-based and exoskeleton-based systems, and discusses their mechanical design, actuation, and control strategies. The review also explores the use of various control inputs, such as switches, joysticks, and surface electromyography (sEMG), and the feedback mechanisms provided to users, including visual, tactile, and audio feedback. The paper emphasizes the importance of clinical evaluation and the need for further research to develop more effective and user-friendly robotic devices for upper limb rehabilitation.This paper presents a comprehensive review of robotic devices for upper limb rehabilitation, including those in the development phase. The review discusses various aspects such as application fields, target groups, types of assistance, mechanical design, control strategies, and clinical evaluations. It includes a detailed comparison of technical solutions implemented in various systems. The review highlights the growing need for robotic devices due to the shortage of therapists and the increasing number of patients requiring upper limb rehabilitation. The paper also addresses the limitations of current devices and the potential of robotic systems to improve rehabilitation outcomes. It covers different types of robotic devices, including end-effector-based and exoskeleton-based systems, and discusses their mechanical design, actuation, and control strategies. The review also explores the use of various control inputs, such as switches, joysticks, and surface electromyography (sEMG), and the feedback mechanisms provided to users, including visual, tactile, and audio feedback. The paper emphasizes the importance of clinical evaluation and the need for further research to develop more effective and user-friendly robotic devices for upper limb rehabilitation.