Soft Robotic Devices for Mechanotherapy of the Upper and Lower Extremities

Abstract Soft robotics are rapidly emerging as a promising method for mechanotherapeutic applications. Through mechanical stimulation, they aid in the recovery and regeneration of soft tissues and improve lymphatic fluid and blood flow. With their ability to safely interact with humans, soft robotic devices are applied across various fields, including medicine, physical therapy, and space physiology. The wearable nature of these devices allows for mobility and comfort during treatment, enabling continuous and personalized therapeutic interventions. This review provides an overview of recent advancements in soft robotic devices for mechanotherapy, focusing on applications for the upper and lower extremities. A comprehensive investigation is conducted on actuation, sensing, control, and power technologies to identify current trends. Finally, future developments and potential innovations in soft robotics for mechanotherapy are discussed.