IEEE Robotics & Automation Magazine - December 2016 - 69

30 weeks of gestational age. This triplet is interesting, since
they were all clinically different. Infant 1 was a typically developing preterm infant, Infant 2 had a mild developmental
delay, while Infant 3 was at risk to develop an NDD due to a
perinatal stroke, in particular for an asymmetry mainly
involving manual functions (right hand affected).
They were enrolled at 3.5 months of corrected age (i.e.,
adjusted age based on the due date of birth) and performed
three weeks of training with the CareToy installed at their
home, about 14 min per day. The total amount of training of
each infant is reported in Table 1.
It is worth mentioning that a randomized controlled
trial study is currently ongoing with 40 infants in Italy and
Denmark. This clinical trial and the pilot preliminary
study have been approved by the Tuscan Region Pediatric
Ethics Committee (Italy), while the Italian Ministry of
Health has approved the trials considering the configuration of the CareToy as a medical device without a Conformité Européenne (CE) mark. A similar approval procedure
was obtained in Denmark. The parents of the enrolled
infants provide their written informed consent to take part
in the study. Further details of the clinical study are
reported in [4].
We developed a short questionnaire, shown on the parents' interface, which was filled out by them at the end of each
training session as early feedback about the acceptability and
feasibility of the proposed goal-directed activities. All infants
showed a good grade of acceptance of the system and enjoyed
playing inside the CareToy. Figure 6 shows an infant during a
training session.

Supine

The parents were highly involved and motivated in carrying on the study, and they become skilled in using the system
during the course of the training.
Figure 7 shows an example of data analysis of Infant 1
lying in supine position with the large ring toy attached to
Table 1. Minutes of training for the three infants.
User

Infant 1

Infant 2

Infant 3

Minutes
of training

229

223

250

Figure 6. An infant playing with the sensorized ring toy during
a training session. Lights and sound feedback are activated
from grasping actions on the sensorized toy and the activation
threshold is purposively set for each infant. (Photo courtesy of
The BioRobotics Institute.)

Standstill
Movement
Interaction
Hit
Grab

Standstill
Movement
Interaction
Hit
Grab

2013-10-22 14:55:35

Trunk

Head
(a)

(b)

Figure 7. (a) The mat data are segmented and augmented with information from wIMUs. (b) An example of infant 1 interacting with the
CareToy. Left- and right-hand activity is indicated with green boxes. (Photo courtesy of the University of Ljubljana.)

december 2016

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

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