## 4 Discussion and Conclusions  
In the context of hand exoskeletons for pediatric patients, there remains a significant lack of available and suitable devices. This study addresses this gap by presenting the design and experimental evaluation of a novel finger module intended to support flexion during daily living activities. Rather than focusing on complete actuation and control systems, the study prioritizes the experimental deduction of the key quantitative requirements, such as stiffness, deformability, and cable stroke, necessary to inform future development and integration phases. Tests performed using an Instron machine revealed that a cable stroke of approximately 45 mm is required to achieve full finger flexion. This information is critical for the sizing of actuators and the spatial configuration of the transmission block, providing a solid foundation for the design compact actuation systems. Additionally, analysis of force trends during phantom flexion highlighted variability influenced by friction and the progressive engagement of soft dorsal links. These findings suggest that future optimization should aim to reduce force fluctuations, particularly in the final stages of flexion, through friction minimization and improved material interface design. The prototype was developed by using FDM AM, which allowed for rapid production and easy assembly of individually printed components. This modular design approach is especially well suited to pediatric applications, as it enables the replacement of specific components to accommodate patient growth, thereby enhancing the system sustainability and economic feasibility. Tensile tests confirmed that increasing material thickness results in lower deformation, whereas a greater number of cells improves deformability. These insights are essential for fine-tuning the mechanical properties of the finger module, where compliance and rigidity must be carefully adjusted to ensure effective functional assistance. Figure 9: The first image depicts the front view of the subject with Phex worn. The second image presents the subject from the side, also with Phex worn. The third image shows the back view of the subject with Phex worn. The fourth image presents all components of Phex. The findings reported in this paper are aligned with broader research efforts in assistive robotics, particularly in response to the growing demand for personalized and sustainable healthcare solutions. As life expectancy increases globally, traditional care systems face rising pressure to support individuals with mobility impairments and chronic conditions. Wearable assistive devices such as pediatric exoskeletons offer promising solutions by extending autonomy, enhancing rehabilitation outcomes, and improving quality of life. Although actuation, control, and sensing aspects were beyond the scope of this work, the design and testing of the finger module provided foundational data that will support their integration in future stages. The results presented here can inform the development of more adaptive, intelligent assistive systems (potentially enhanced by smart sensing and AI-driven control) to meet the dynamic needs of users. This aligns with the objectives of next-generation assistive robotics: to deliver impactful, scalable, and user-centered technologies that respond effectively to the challenges of aging populations and pediatric care. Future work will focus on integrating electronics, refining the actuation and transmission systems for greater compactness, and investigating the material and human-exoskeleton interfaces to enhance system performance, reliability, and long-term adaptability. In a future long-term study, the use of the device will be extended to a larger group of users. Standardized evaluation scales will be administered to quantitatively assess user satisfaction. Particular attention will be devoted to aspects related to comfort and breathability of the device, given their relevance for prolonged use, manipulating the frame texture from the slicer software.