**5. Conclusions**

Age-related differences in terms of dynamic properties and kinematic performance related to the ankle joint were assessed by means of a robotic device.

Outcomes revealed for children were characterized by a lower magnitude of ankle impedance in both dorsi-plantarflexion and inversion-eversion directions and by a greater anisotropy. By considering a goal-directed task, adults performed more accurate and less smooth movements, and a lower symmetry of movement in both directions was found in children. Moreover, a greater ability to stop the movement after hitting the target was found in adults.

These findings provide fundamental information usable as guidelines for researcher groups involved in the design of robotic devices and training protocols for rehabilitation purposes. Furthermore, they could represent a starting point for solving the issues related to the scalability of robots suitable for adults and children.

**Author Contributions:** Conceptualization, F.M., J.T. and S.R.; methodology, F.M., J.T. and S.R.; software, F.M. and S.R.; formal analysis, F.M., J.T. and S.R.; data curation, F.M., J.T. and S.R.; writing—original draft preparation, F.M., J.T. and S.R.; writing—review and editing, F.M., J.T., Z.D.P" E.P. and S.R.; supervision, Z.D.P., E.P. and S.R.; project administration, F.M., J.T., E.P. and S.R.

**Conflicts of Interest:** The authors declare no conflict of interest.
