Paediatric ankle rehabilitation system based on twisted and coiled polymer actuators

Abstract Rehabilitation is crucial for children with physical disabilities arising from various conditions. Traditional exoskeletons, reliant on electric motors and rigid components, making them cumbersome, heavy, and unsuitable for use outside clinical facilities. To overcome these, researchers are turning to soft wearable rehabilitation robots (SWRRs) with artificial muscles based on smart materials like twisted and coiled polymer actuators (TCPs). TCPs offer enhanced compliance, adaptability, comfort, safety, and reduced weight—critical for paediatric use. Despite facing challenges like low operating frequencies and high temperatures, TCPs are explored as potential artificial muscles for SWRRs, due to their advantages on the force they can generate, the strain and a linear behaviour. This study details a proof of concept for a paediatric rehabilitation system for ankles based on TCPs, including the actuator characterization, mechanical design, control strategy, and human-computer-interface (HCI). The resulting device achieved a 1.4 Nm torque, a 10° range of motion in dorsiflexion within 5 s, and integrated electromyographic HCI. This research marks a promising step towards innovative, soft wearable rehabilitation solutions for children with physical disabilities.