## 1 Introduction  
Social inclusion of individuals with disabilities is defined as the possibility of having full and fair access to activities, social roles, places, and relationships alongside non-disabled people [1]. In recent decades, such inclusion has undergone significant improvement [2, 3], largely due to technological and societal advancements that have enabled people with physical, sensory, or intellectual disabilities to live more independently and participate more fully in work and social activities. However, it is worth noting that social inclusion is an ongoing process, and there is always room for improvement. Despite the progress made, achieving full social inclusion in all environments, including schools, workplaces, entertainment, and others, requires continued efforts to address barriers that prevent individuals with disabilities from fully participating in society. Many organizations claim more attention to people with disabilities and ask governments to take specific actions towards social inclusion, for instance to remove architectural barriers [4], advocate for disability rights, encourage socialization and community engagement, etc. As a result, in many developed countries, people with disabilities reached a higher social status and specific laws to protect their rights. One of the best outcomes is the UN Convention on the Rights of People with Disabilities (CRPD) of 2007 [5], which gives important guidelines to promote the full realization of all human rights and fundamental freedoms for all persons with disabilities, also through the development and use of new technologies (art.4). Technological solutions and digital technologies entail major opportunities to promote and facilitate the social integration of people who live with different types of disabilities [6; 7]. Assistive Technology (AT) plays a fundamental role, as it can in many cases fill the gap between the needs and capabilities of people with disabilities. Thanks to AT, also persons with severe impairments can move, get around, communicate, use a computer, and perform tasks that might otherwise be difficult or impossible; however, we believe that research and development of AT must be broadened to more human contexts. In particular, there is a general lack of social integration in outdoor gaming between players with and without disabilities, particularly among youths, for whom socialization is in general more important than for adults [8]. Participation in sports is a good chance to improve social engagement that can improve well-being [9; 10]. Sometimes, this lack of participation is due to the poor awareness of those without disabilities on how to include peers with disabilities in sports [11], fear, or parental behavior [12], but in most cases, it is due to different physical capabilities [12]. For instance, a person with motor-skill disabilities can play sports such as football or basketball with more difficulties with respect to their non-disabled peers and playing together on the same ground may result in a game too hard and demoralising for the player with disabilities and not too competitive for the one without disabilities. Despite attempts to assess the needs of people with disabilities for physical activities and sports [13; 14], and propose variant of traditional sports such as basketball with all players sitting on a wheelchair to include young people with disabilities [15], at present, the practice of sports for people with disabilities remains uncommon and mainly takes place in dedicated events. This paper presents a novel system that allows a person with motor-skill disabilities to be competitive in an outdoor gaming situation, on the same ground as their peers without disabilities, playing the role of the goalkeeper in a non-professional five-a-side football match, which instead requires high-speed reaction and coordination of all limbs.