**5. Conclusions**

Based on the research results presented in this paper, the functionality of the proposed robotic exoskeleton device is tested and studied. Observations such as mechanical symmetrical and asymmetrical behavior determined in this paper will further benefit research regarding the augmentation of the human body with robotic exoskeletons. The study presented contains valuable data and observations that can be used not only for medical rehabilitation applications, but can potentially extend to other areas of application such as civil use, industrial or home environment, or even military and aerospace applications. Even though the study presented in this paper consists of only initial tests of the exoskeleton prototype, the system proved itself to be a good platform for experimental research. As for the development level of the device, it can be approximated that the device is still a prototype. The final aim of the project is to develop an adequate design for a commercial product. There is plenty of space for future research regarding optimization, such as, for example, size reduction, implementation of soft actuating systems, compliant systems, or hybrid systems, as well as studies related to robustness and device resilience [56]. In future research, we plan to extend the device's functionality, adding upgrades, including more feedback sources and integration of electromyography (EMG) signals with human brain interfaces to monitor rehabilitation progress during automated occupational therapy procedures. Other future updates are oriented towards increasing the device's autonomy in familiar environments, considering integrating elements such as batteries, internal data storage, wireless communication, and easy-to-use user interface software. Although the friction model related to the actuating system presented in the paper is a good starting point in research related to the proposed device, friction compensation control and optimization are broad subjects in themselves [45,46]. They deserve a dedicated and complete study, which may be taken into account in future developments of this project.

**Author Contributions:** Conceptualization, F.I.B. and R.C.T, .; methodology, R.C.T, . and I.D.; video processing, I.D. and S.D.; investigation, I.D. and R.C.T, .; validation, S.D.; design of the CAD model, F.I.B and R.C.T, .; formal analysis, R.C.T, .; data curation, S.D.; writing—original draft preparation, F.I.B.; writing—review and editing, S.D. and I.D.; review, proofreading and improvements of the paper, I.D. and S.D.; resources and materials F.I.B.; visualization, S.D. and I.D.; supervision and project administration, R.C.T, . All authors have read and agreed to the published version of the manuscript.

**Funding:** This research received no external funding. And the article processing charge (APC) is supported by Cercetare Dezvoltare Agora (R&D center of Agora University of Oradea).

**Acknowledgments:** The authors would like to thank the Ph D School of Engineering Sciences—University of Oradea, Romania, for providing technical support and access to online academic databases.

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