It's been painful for their mother Rose to observe the videos especially, telling YouTube: "It's heartbreaking and disturbing to see my kids being abused". Despite the negative response that their videos have received, DaddyOFive has managed to gain an audience of over 750,000 subscribers.
Another prank in another video revealed Mike ordering his son, Cody, to slap his 11-year-old sister Emma in the face.
One video shows Martin trying to convince Cody that he was adopted out to another family.
Cody would often end up crying, screaming and throwing objects out of frustration.
Usually while the father torments Cody, an older brother films the action for the channel.
To date, the DaddyoFive channel remains up on YouTube, with the apology video the only one available to watch. Ziegler says this kind of behavior can be really harmful to a child. CPS could not confirm nor deny an investigation by law.
Heather Martin went on to explain the mindset that came with YouTube success.
Rose Hall, who lives in North Carolina, told the Baltimore Sun that she reunited with her children on Friday and that she hadn't seen them since 2014 and 2015, respectively.
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Lawyer for Ms Hall, Tim Conlon, thanked police and child services for removing the children into the safe custody of their mother.
The parents, however, maintained that some of the children's emotional reactions were staged and that the children were in on the pranks most of the time.
The firm said it did not condone "some of the content" posted to the YouTube channel, but said that the Martins "now fully understand that they crossed the line and they describe how what started out as family fun quickly escalated into shock value for the goal of viewership and subscriptions".
"I am ashamed", Mike said.
We realize that we have made some bad parenting decisions and we just want to make things right. They said that they thought the money was helping their family, and now they're all seeing a counselor. They reportedly made up to $350,000 per year from their YouTube channel, according to New York Magazine.
"We could give them a whole lot more than we could before", Heather says. Another strong accusation, but not something we would put past them at this point. In one video, the parents poured disappearing ink on their kids' bedroom floor, then pretending to blame Cody, the youngest of the five and and the most targeted of the kids, for spilling the ink. "I don't have anything with ink or whatever this is".
When he got the call, he "thought it was some sort of goofy prank", Conlon said.
"You got dads out there, they're lawyers".