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- This work is part of the domain of physical human-robot interaction, and more precisely focuses on interaction with children to support the development of their handwriting skills. The robot is intended to assist children with dyslexia, who often exhibit handwriting difficulties that can contribute to delays in their academic progress. The objective of the robot is to co-manipulate a pen with the child, guiding their movements to help establish reliable motor patterns. The long-term goal is for the child to shift their focus from the mechanical act of writing letters to the higher-level task of constructing grammatically correct sentences. The design process begins with a specification sheet that defines the key performance targets and constraints of the device. These include values such as maximum speed, acceleration, force, and the intended mode of operation. The specification is based on data analysis of handwriting trajectories collected from children without learning disorders. Once the specifications were established, the mechanical design was developed using a systematic machine design methodology. A morphological table was used to generate and compare concept variants through evaluation criteria and scoring tables, allowing the selection of the most suitable architecture. The chosen design was then refined and modeled in detail using SolidWorks. This 3D model represents the first step toward building a physical prototype to evaluate its performance in future work. The current work focuses solely on the mechanical design. The electronic architecture and control strategy remain to be defined in subsequent development stages.