The trouble is, as much as Helen now regrets it, she was instrumental in getting Henry to see Rob as his dad. Unfortunately, even though Rob is clearly not fit to look after Henry without supervision, cutting off all access is probably more damaging to a child that age.
I think Helen should be awarded custody but should accept Rob having supervised access, at least for the time being, assuming he doesn't just lose interest in Henry as not his 'flesh and blood'. Jack will want to know who his biological father is, so supervised access is probably the way to go there too. That's my opinion.
This is the only storyline keeping me interested - I don't really care for the most of the other characters' 'everyday stories'. This storyline may have been too melodramatic for some, but I don't watch or listen to soaps to hear about the day-to-day ins and outs of prosaic lives - I already have my own life for that.