I also wouldn't worry much at 20 weeks. I'm at 26, and have been on fetal monitors quite a lot lately (4 hospital visits in 2 weeks) due to pre-term labor complications. There are so many times when I can't FEEL her move, yet according to the monitor microphone she's actually going nuts in there!
Also, if it helps, yesterday a nurse at Sibley finally gave me a good explanation of how to keep an eye on fetal movement. You're supposed to compare "apples to apples" -- in other words, if your baby is reliably active at certain times of day or in certain situations, THAT is when you should make sure to keep an eye out for regular movement. The rest of the time, s/he could just be asleep.
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