Customized Pediatric Hand EXoskeleton for Activities of Daily Living (PHEX): Design, Development, and Characterization of an Innovative Finger Module

Research on pediatric hand exoskeletons remains limited compared to that on devices for adults. This paper presents the design and experimental validation of a customizable pediatric finger module, part of a hand exoskeleton tailored to individual anatomical features. The module aims to assist finger flexion in children with mild spasticity during activities of daily living. A patient-specific design methodology was applied to the case of a 12-year-old child. The finger module integrates compliant dorsal structures and cable-driven transmission with rigid anchoring elements to balance flexibility and structural stability. Different geometries and thickness values were tested to optimize comfort and quantify mechanical performance. Additive manufacturing was adopted to enable rapid prototyping and easy replacement of parts. Tensile and bending tests were conducted to determine stiffness and cable travel. Results support the feasibility of the proposed finger module, offering empirical data for selection and sizing of the actuation system and paving the way for the advancement of new modular pediatric devices.