{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:48:15Z","timestamp":1760345295249},"reference-count":27,"publisher":"Walter de Gruyter GmbH","issue":"1","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,2,15]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Robots have been used for many years in therapeutic activities with people with Autism Spectrum Disorder. However, most robots presented in the literature have limited or no mobility, are made of rigid materials, or are too expensive for many care centers. We share the choices and the design rationale of the latest version of a soft, mobile, low-cost, autonomous robot that has successfully been used for 3 years in a care center for activities that include both free play and structured games. Moreover, the kind of activities that can be performed with this robot, and the feedback obtained from therapists about its application are reported.<\/jats:p>","DOI":"10.1515\/pjbr-2021-0015","type":"journal-article","created":{"date-parts":[[2021,2,16]],"date-time":"2021-02-16T01:59:13Z","timestamp":1613440753000},"page":"187-198","source":"Crossref","is-referenced-by-count":8,"title":["A soft, mobile, autonomous robot to develop skills through play in autistic children"],"prefix":"10.1515","volume":"12","author":[{"given":"Andrea","family":"Brivio","sequence":"first","affiliation":[{"name":"Dipartimento di Elettronica, Informazione e Bioingegneria\u2009\u2013\u2009Politecnico di Milano , Milano , Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ksenia","family":"Rogacheva","sequence":"additional","affiliation":[{"name":"Dipartimento di Elettronica, Informazione e Bioingegneria\u2009\u2013\u2009Politecnico di Milano , Milano , Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matteo","family":"Lucchelli","sequence":"additional","affiliation":[{"name":"Dipartimento di Elettronica, Informazione e Bioingegneria\u2009\u2013\u2009Politecnico di Milano , Milano , Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrea","family":"Bonarini","sequence":"additional","affiliation":[{"name":"Dipartimento di Elettronica, Informazione e Bioingegneria\u2009\u2013\u2009Politecnico di Milano , Milano , Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2021,2,15]]},"reference":[{"key":"2022020408211326468_j_pjbr-2021-0015_ref_001","doi-asserted-by":"crossref","unstructured":"A. Bonarini, F. Garzotto, M. Gelsomini, M. Romero, F. Clasadonte, and A. N. \u00c7. Yilmaz, \u201cA huggable, mobile robot for developmental disorder interventions in a multi-modal interaction space,\u201d in 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2016), IEEE, Piscataway, NJ, 2016, pp. 823\u2013830, https:\/\/doi.org\/10.1109\/ROMAN.2016.7745214.","DOI":"10.1109\/ROMAN.2016.7745214"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_002","doi-asserted-by":"crossref","unstructured":"A. Bonarini, F. Clasadonte, F. Garzotto, M. Gelsomini, and M. Romero, \u201cPlayful interaction with Teo, a mobile robot for children with neurodevelopmental disorders,\u201d in Proceedings of the 7th International Conference on Software Development and Technologies for Enhancing Accessibility and Fighting Info-exclusion, ACM, 2016, pp. 223\u2013231, https:\/\/doi.org\/10.1145\/3019943.3019976.","DOI":"10.1145\/3019943.3019976"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_003","doi-asserted-by":"crossref","unstructured":"S. Besio, \u201cThe need for play for the sake of play,\u201d in Play development in children with disabilities, S. Besio, D. Bulgarelli, and V. Stancheva-Popkostadinova, Eds., Berlin: Walter de Gruyter GmbH & Co KG, 2016, pp. 9\u201352, https:\/\/doi.org\/10.1515\/9783110522143-003.","DOI":"10.1515\/9783110522143-003"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_004","doi-asserted-by":"crossref","unstructured":"B. Scassellati, H. Admoni, and M. Mataric, \u201cRobots for use in autism research,\u201d Annu. Rev. Biomed. 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Dis., vol. 6, no. 1, pp. 249\u2013262, 2012, https:\/\/doi.org\/10.1016\/j.rasd.2011.05.006.","DOI":"10.1016\/j.rasd.2011.05.006"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_007","doi-asserted-by":"crossref","unstructured":"W. L. J. E. den Brok and P. S. Sterkenburg, \u201cSelf-controlled technologies to support skill attainment in persons with an autism spectrum disorder and\/or an intellectual disability: a systematic literature review,\u201d Disabil. Rehabil. Assist. Technol., vol. 10, no. 1, pp. 1\u201310, 2015, https:\/\/doi.org\/10.3109\/17483107.2014.921248.","DOI":"10.3109\/17483107.2014.921248"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_008","doi-asserted-by":"crossref","unstructured":"M. Jouaiti and P. H\u00e9naff, \u201cRobot-based motor rehabilitation in autism: a systematic review,\u201d Int. J. Soc. Robot., vol. 11, pp. 753\u2013764, 2019, https:\/\/doi.org\/10.1007\/s12369-019-00598-9.","DOI":"10.1007\/s12369-019-00598-9"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_009","doi-asserted-by":"crossref","unstructured":"S. Shamsuddin, H. Yussof, L. Ismail, F. A. Hanapiah, S. Mohamed, H. A. Piah, et al., \u201cInitial response of autistic children in human-robot interaction therapy with humanoid robot NAO,\u201d in 2012 IEEE 8th International Colloquium on Signal Processing and its Applications (CSPA), IEEE, 2012, pp. 188\u2013193, https:\/\/doi.org\/10.1109\/CSPA.2012.6194716.","DOI":"10.1109\/CSPA.2012.6194716"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_010","doi-asserted-by":"crossref","unstructured":"B. Robins, K. Dautenhahn, R. Te Boekhorst, and A. Billard, \u201cRobotic assistants in therapy and education of children with autism: can a small humanoid robot help encourage social interaction skills?\u201d Univ. Access Inf. 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Disord., vol. 46, no. 1, pp. 113\u2013126, 2016, https:\/\/doi.org\/10.1007\/s10803-015-2556-9.","DOI":"10.1007\/s10803-015-2556-9"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_013","unstructured":"L. B. Bertel and D. M. Rasmussen, \u201cPEERs at play: a case study on persuasive educational and entertainment robotics in autism education,\u201d in Proceedings of the International Workshop on EuroPLOT Persuasive Technology for Learning, Education, and Teaching (IWEPLET 2013), 2013, pp. 161\u2013168."},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_014","doi-asserted-by":"crossref","unstructured":"F. Michaud and S. Caron, \u201cRoball, the rolling robot,\u201d Auton. Robot., vol. 12, pp. 211\u2013222, 2002, https:\/\/doi.org\/10.1023\/A:1014005728519.","DOI":"10.1023\/A:1014005728519"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_015","unstructured":"Leka, available: https:\/\/www.leka.io\/. 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Mahoor, \u201cAn emotion recognition comparative study of autistic and typically-developing children using the zeno robot,\u201d in 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Seattle, WA, 2015, pp. 6128\u20136133, https:\/\/doi.org\/10.1109\/ICRA.2015.7140059.","DOI":"10.1109\/ICRA.2015.7140059"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_021","doi-asserted-by":"crossref","unstructured":"H. Kozima, C. Nakagawa, and Y. Yasuda, \u201cInteractive robots for communication-care: a case-study in autism therapy,\u201d in IEEE International Workshop on Robot and Human Interactive Communication (ROMAN 2005), IEEE, Nashville, TN, USA, 2005, pp. 341\u2013346, https:\/\/doi.org\/10.1109\/ROMAN.2005.1513802.","DOI":"10.1109\/ROMAN.2005.1513802"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_022","doi-asserted-by":"crossref","unstructured":"L. S. Vygotsky, \u201cPlay and its role in the mental development of the child,\u201d Sov. Psychol., vol. 5, no. 3, pp. 6\u201318, 1967, https:\/\/doi.org\/10.2753\/RPO1061-040505036.","DOI":"10.2753\/RPO1061-040505036"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_023","doi-asserted-by":"crossref","unstructured":"J. Piaget, Play, Dreams and Imitation in Childhood, Abingdon: Routledge, 2013.","DOI":"10.4324\/9781315009698"},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_024","unstructured":"C. Garvey, Play, Cambridge, MA, USA: Harvard University Press, 1990."},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_025","unstructured":"United Nations, Human Rights, Convention on the Rights of the Child, General United Nations Assembly Resolution, 1990."},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_026","unstructured":"A. Brivio, K. Rogacheva, M. Zambelli, A. Bonarini, M. Merigo, and M. Romero, Sensore Capacitivo e Metodo di Realizzazione di Tale Sensore Capacitivo, Patent WO 2019\/123503A1, Dec. 19, 2018."},{"key":"2022020408211326468_j_pjbr-2021-0015_ref_027","doi-asserted-by":"crossref","unstructured":"H. Fukuda and K. Ueda, \u201cInteraction with a moving object affects one\u2019s perception of its animacy,\u201d Int. J. Soc. Robot., vol. 2, pp. 187\u2013193, 2010, https:\/\/doi.org\/10.1007\/s12369-010-0045-z.","DOI":"10.1007\/s12369-010-0045-z"}],"container-title":["Paladyn, Journal of Behavioral Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/pjbr-2021-0015\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/pjbr-2021-0015\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,4]],"date-time":"2022-02-04T08:29:48Z","timestamp":1643963388000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/pjbr-2021-0015\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,1,1]]},"references-count":27,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2021,2,10]]},"published-print":{"date-parts":[[2021,2,10]]}},"alternative-id":["10.1515\/pjbr-2021-0015"],"URL":"https:\/\/doi.org\/10.1515\/pjbr-2021-0015","relation":{},"ISSN":["2081-4836"],"issn-type":[{"value":"2081-4836","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,1,1]]}}}