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Robotic-assisted gait therapy is becoming an increasingly common method of providing lower-limb gait assistance; however, there are limited options for pediatric populations who suffer from limited mobility issues. We propose a pediatric gait rehabilitation and mobility system with custom 3D printed braces built from lower limb 3D scans. Such a system can be manufactured and reprinted effectively to grow with a child without the traditional cost associated with assistive device replacements. Our initial design consisted of 3D printing carbon fiber braces based on user measurements, but issues with breathability and friction lead us to transition to an entirely 3D printed brace built from 3D scan dimensions and joint positions. The process to create a complete set of braces for a single user typically takes 5-6 hours. We are currently working on a technique that enables a template brace created from one 3D scan to readjust and reorient to another with minimal steps through the integrated use of static and dynamic variables to define the various brace elements to create custom fitted braces within minutes. This process can be applied to various exoskeletons, orthotics and prostheses as well as any field requiring customizable manufacturing.