Embedded Multimodal Textile Actuator for Mechanotherapy: A Proof-of-Concept Study

Home-based rehabilitation is increasingly recognised as a key strategy for providing continuous, accessible and cost-effective therapies while reducing dependence on specialised equipment and clinical supervision. This is particularly relevant for musculoskeletal and postsurgical rehabilitation. Extending functional therapies (e.g., mechanotherapy and heat therapy) to wearable platforms requires compact, lightweight devices that preserve therapeutic efficacy outside of clinical settings. This work presents the concept and preliminary investigation of a fully textile, programmable compression module that integrates localised heating into a lightweight, compact architecture. The system employs thermally activated twisted and coiled polymer actuators (TATCPAs) for controlled compression and embroidered hybrid resistive elements for efficient heating, synergistically combining mechanotherapy and heat therapy in a single wearable device for the first time. This proof-of concept consists of a single compact drive module, intended as the basic building block to devise a fully functional wearable system. This approach provides a scalable basis for extending rehabilitation beyond clinical settings, facilitating accessible home-based therapy.