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In recent years, rehabilitation robotics has progressed toward developing wearable technologies to promote the portability of assistive devices and to enable home rehabilitation of the upper extremities. However, current wearable technologies mainly rely on electric motors and rigid links or soft pneumatic actuators and are usually bulky and cumbersome. To overcome the limitations of existing technologies, in this paper, a first prototype of a lightweight, ungrounded, soft exoskeleton for wrist rehabilitation powered by soft and flexible carbon fibers-based twisted and coiled artificial muscles (TCAMs) is proposed. The device, which weighs only 0.135 kg, emulates the arrangement and working mechanism of skeletal muscles in the upper extremities and is able to perform wrist flexion\/extension and ulnar\/radial deviation. The range of motion and the force provided by the exoskeleton is designed through simple kinematic and dynamic theoretical models, while a thermal model is used to design a thermal insulation system for TCAMs during actuation. The device\u2019s ability to perform passive and active-resisted wrist rehabilitation exercises and EMG-based actuation is also demonstrated.<\/jats:p>","DOI":"10.3390\/robotics12010027","type":"journal-article","created":{"date-parts":[[2023,2,10]],"date-time":"2023-02-10T04:48:03Z","timestamp":1676004483000},"page":"27","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Lightweight Bioinspired Exoskeleton for Wrist Rehabilitation Powered by Twisted and Coiled Artificial Muscles"],"prefix":"10.3390","volume":"12","author":[{"given":"Carlo","family":"Greco","sequence":"first","affiliation":[{"name":"Department of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0985-0573","authenticated-orcid":false,"given":"Thilina H.","family":"Weerakkody","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Iowa, Iowa City, IA 42242, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1876-9526","authenticated-orcid":false,"given":"Venanzio","family":"Cichella","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Iowa, Iowa City, IA 42242, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7917-5185","authenticated-orcid":false,"given":"Leonardo","family":"Pagnotta","sequence":"additional","affiliation":[{"name":"Department of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1326-5636","authenticated-orcid":false,"given":"Caterina","family":"Lamuta","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Iowa, Iowa City, IA 42242, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,10]]},"reference":[{"key":"ref_1","first-page":"91","article-title":"Cerebral palsy: An overview","volume":"73","author":"Krigger","year":"2006","journal-title":"Am. 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