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Children and adults with cerebral palsy (CP) can have involuntary upper limbmovements as a consequence of the symptoms that characterize their motordisability, leading to difficulties in communicating with caretakers and peers.We describe how a socially assistive robot may help individuals with CP topractice non-verbal communicative gestures using an active orthosis in aone-on-one number-guessing game. We performed a user study and data collectionwith participants with CP; we found that participants preferred an embodiedrobot over a screen-based agent, and we used the participant data to trainpersonalized models of participant engagement dynamics that can be used toselect personalized robot actions. Our work highlights the benefit ofpersonalized models in the engagement of users with CP with a sociallyassistive robot and offers design insights for future work in this area.

Personalizing User Engagement Dynamics in a Non-Verbal Communication Game for Cerebral Palsy