In this paper the authors describe the methods and initial results for implementation of a methodological framework, designed for rehabilitation and education professionals, to be used as a tool in the process of matching the play needs of children with disabilities with existing robotic technologies to enhance children's participation in play. This methodological framework, developed within the European project IROMEC (Interactive RObotic MEdiators as Companions, IST-FP6-045356), consists of five progressive steps describing the factors related to individuals and contexts (classified according to ICF-CY), the play activity (described in terms of play scenarios) and system requirements.