Robots that lend social and emotional support to their users have the potential to extend the quality of care that humans can provide. However, developing robotic aids to address symptoms of loneliness, anxiety and social isolation can be especially challenging due to factors that are complex and multi-faceted. Using a user-centered approach, a prototype therapeutic robot, TACO, was developed. The design of this robot was closely informed by a comprehensive need finding process which included a detailed literature review, ethical analysis, interviews with pediatric domain experts, and a site visit to a pediatric hospital. The prototype robot was evaluated over the course of several structured play sessions, using short interviews with children as well as a modified version of the SOFIT testing procedure. Results from early-stage testing suggest that TACO was well-liked, children found playing with it engaging and frequently exhibited affective behaviors like cuddling and stroking. These findings motivate follow-on work to further advance its design and to test its effectiveness as a therapeutic tool.