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Rehabilitation robots in home environments has the potential to dramatically improve quality of life for individuals who experience disabling circumstances due to injury or chronic health conditions. Unfortunately, although classes of robotic systems for rehabilitation exist, these devices are typically not designed for children. And since over 150 million children in the world live with a disability, this causes a unique challenge for deploying such robotics for this target demographic. To overcome this barrier, we discuss a system that uses a wireless arm glove input device to enable interaction with a robotic playmate during various play scenarios. Results from testing the system with 20 human subjects shows that the system has potential, but certain aspects need to be improved before deployment with children.