Children with a severe motor impairment due to cerebral palsy have a free play deprivation due to their physical impairment. There is evidence that playfulness is affected in children with cerebral palsy. The objective of this pilot study was to investigate the effect of a home-based robot intervention that promotes free play, on the child's level of playfulness. This study was a pilot study for a future multiple baseline design (MBD) across subjects. The participant was a 4 year old girl with cerebral palsy who played with her mother at home. The 5 week intervention used a robot as an augmentative manipulation device for play. The playfulness level increased slightly during the intervention. Reflections for future studies are discussed.