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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.doi:10.1515/pjbr-2021-0015 fatcat:sngwnoam55c7hfyuag6wj2sce4