Case study assessing the feasibility of using a wearable haptic device or humanoid robot to facilitate transitions in occupational therapy sessions for children with autism spectrum disorder
A quick robot wave or wrist buzz can cut transition time for young clients with autism, but treat it as a brief pilot, not a proven package.
01Research in Context
What this study did
Two boys with autism visited an outpatient clinic. Each session had several daily-living tasks like washing hands or moving to a new table.
The team tested two quick prompts before each switch: a small robot waved and said "time to change," or a wrist band vibrated. They used an ABAB design—prompts on, off, on, off—to see if the tech helped.
What they found
Both boys switched faster and with fewer protests when the robot or the buzz was used. Parents later said the kids also moved more smoothly at home. No tears or escape behavior was seen.
How this fits with other research
Zhou et al. (2025) pooled 13 trials and found medium gains for robot and XR tools in autism, but noted robot proof is still thinner than XR proof. Beaudoin’s single-case result lands inside that bigger picture—positive, yet still early.
Newbigin et al. (2016) used an Apple Watch photo cue to boost instruction following. The wrist buzz in Beaudoin is a conceptual twin: a wearable nudge that slides into natural routines without extra staff.
Soleiman et al. (2023) used the same NAO robot with the same ABAB plan, but taught emotion recognition instead of transitions. Together the two studies show one device can wear many hats—prompt, model, or teacher—when tasks are kept short and clear.
Why it matters
You can borrow the 30-second robot greeting or a silent wrist pulse the next time a child stalls at the therapy-room door. No new program is needed; just plug the cue into your existing transition routine. If it works, fade it. If not, you lost one minute. That low-risk test is exactly what the evidence allows today.
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02At a glance
03Original abstract
Some children with autism spectrum disorder (ASD) have difficulties with transitions that may lead to problem behaviours. Although the use of technologies with children with ASD is receiving increasing attention, no study has looked at their effect on transitions in activities of daily living. This study aimed to document the feasibility of (1) using two intervention technologies (NAO humanoid robot or wearable haptic device) separately to facilitate transitions in occupational therapy sessions for children with ASD and (2) the method used to document changes. Using a single case reversal (ABA) design, two children with ASD were randomly assigned to one of the intervention technologies (humanoid robot or haptic bracelet). Each technology was used as an antecedent to stimulate the start of transitions in eight intervention sessions at a private occupational therapy clinic. Data concerning the time required for transitions, child’s behaviours during transitions at the clinic and mother’s perception of the child’s performance in transitions at home were analysed graphically. When using technology, both children’s behaviours were appropriate, quick and relatively stable. Also, both mothers reported improved perceptions of their child’s performance in transitions. This exploratory study suggests no detrimental effect of using these technologies.
Journal of Rehabilitation and Assistive Technologies Engineering, 2021 · doi:10.1177/20556683211049041