Design, development, and optimization of “Tomy”, a social robot designed to complement psychological care for children hospitalized with hematologic malignancies

Abstract

Objective: To describe the design, manufacturing, electronic and digital integration, and functional optimization of “Tomy”, a social robot designed as a complementary tool to be used alongside routine psychological care for children aged 6–12 years hospitalized with hematologic malignancies.

Methods: A technological development and early technical evaluation study was conducted using a user-centered design approach. Individual surveys and an exploratory group feedback activity were conducted with hospitalized pediatric patients to identify their preferences and define the robot’s appearance, modes of interaction, and functional requirements. A participatory session was also conducted with psychologists from the Hematology Service to align the robot’s intended functionalities with the objectives of routine psychological sessions. The development process comprised three iterations: an initial proof of concept, an intermediate prototype, and a final functional prototype, all designed using three-dimensional digital modeling and manufactured through fused deposition modeling 3D printing with polylactic acid filament. After the electronic and digital components were integrated into the final functional prototype, functional testing and optimization were performed. Clinical outcomes were not evaluated.

Results: In the initial exploratory survey of three patients, two preferred an animal morphology over a humanoid appearance. The information obtained was used to develop a proof-of-concept prototype with a canine morphology. This model was subsequently presented during an exploratory group feedback activity with three patients, whose comments informed adjustments to the appearance and intended modes of interaction, resulting in an intermediate prototype. In the aesthetic validation survey, nine of the 10 patients indicated that they liked the robot’s shape and considered its appearance friendly; all stated that they would like to have such a robot during their hospitalization. The psychologists’ participation helped identify the objectives and activities of routine psychological care and define functionalities intended for future integration into these sessions. The iterative process resulted in a final functional prototype with a canine morphology that was operated by a psychologist through a web interface with predefined content and commands. The robot incorporated a facial display with four preprogrammed expressions (tiredness, happiness, anger, and sadness), movements of the head, tail, and hind legs, LED lights to indicate specific body parts, and accessories (stethoscope, flower, hat, and face mask) designed to complement the content intended for the psychological sessions through visual and play-based elements.

Conclusion: “Tomy” is a functional social robot prototype with canine morphology, designed with the participation of hospitalized children and psychologists, and conceived as a complementary tool to be used alongside routine psychological care for children hospitalized with hematologic malignancies. Its clinical implementation and effects on emotional outcomes were not evaluated. Future phases should assess its safety, feasibility, acceptability, usability, integration into psychological sessions, and added value compared with simpler alternatives, as well as its potential clinical effects and its ability to facilitate the structured delivery of content during psychological care.