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Article published In: Interaction Studies
Vol. 17:3 (2016) ► pp.461–490

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Long-term evaluation of a social robot in real homes

 | University of Twente, The Netherlands
 | Saxion University of Applied Sciences, The Netherlands
 | University of Twente, The Netherlands
Published online: 30 March 2017
DOI logo with link
https://doi.org/10.1075/is.17.3.08deg
Abstract
This study aims to contribute to emerging human-robot interaction research by adding longitudinal findings to a limited number of long-term social robotics home studies. We placed 70 robots in users’ homes for a period of up to six months, and used questionnaires and interviews to collect data at six points during this period. Results indicate that users’ evaluations of the robot dropped initially, but later rose after the robot had been used for a longer period of time. This is congruent with the so-called mere-exposure effect, which shows an increasing positive evaluation of a novel stimulus once people become familiar with it. Before adoption, users focus on control beliefs showing that previous experiences with robots or other technologies allows to create a mental image of what having and using a robot in the home would entail. After adoption, users focus on utilitarian and hedonic attitudes showing that especially usefulness, social presence, enjoyment and attractiveness are important factors for long-term acceptance.
Article outline
  • 1.Introduction
  • 2.The long-term acceptance process
    • 2.1Expectation phase
    • 2.2Encounter phase
    • 2.3Adoption phase
    • 2.4Adaptation phase
    • 2.5Integration phase
    • 2.6Identification phase
  • 3.Related studies
  • 4.Method
    • 4.1Robot
    • 4.2Participants
    • 4.3Instruments
    • 4.4Data collection and procedure
    • 4.5Data analysis
  • Results
    • 5.1Use over time
    • 5.2Quantitative results on the acceptance variables
    • 5.2Qualitative results on the acceptance variables
      • Usefulness
      • Ease of use
      • Adaptability
      • Reliability
      • Intelligence
      • Diversity of use
      • Enjoyment
      • Attractiveness
      • Animacy
      • Social presence
      • Sociability
      • Companionship
      • Social influence
      • Media influence
      • Status
      • Trust
      • Privacy
      • Self-efficacy
      • Previous experiences
      • Prior expectations
      • Cost
      • Situational factors
  • 6.Discussion
    • Limitations
  • 7.Conclusion
  • References
References (47)
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2022. 2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI), ► pp. 24 ff. DOI logo
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2025. The robot that stayed: understanding how children and families engage with a retired social robot. Frontiers in Robotics and AI 12 DOI logo
de Jong, Chiara, Jochen Peter, Rinaldo Kuhne, Caroline van Straten & Alex Barco
2021. 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), ► pp. 598 ff. DOI logo
Dudek, Melanie, Stefanie Baisch, Monika Knopf & Thorsten Kolling
2021. “THIS ISN’T ME!”: The Role of Age-Related Self- and User Images for Robot Acceptance by Elders. International Journal of Social Robotics 13:6 ► pp. 1173 ff. DOI logo
Fu, Changzeng, Yuichiro Yoshikawa, Takamasa Iio & Hiroshi Ishiguro
2021. Sharing Experiences to Help a Robot Present Its Mind and Sociability. International Journal of Social Robotics 13:2 ► pp. 341 ff. DOI logo
Jaschinski, Christina, Somaya Ben Allouch, Oscar Peters, Ricardo Cachucho & Jan A G M van Dijk
2021. Acceptance of Technologies for Aging in Place: A Conceptual Model. Journal of Medical Internet Research 23:3 ► pp. e22613 ff. DOI logo
Koay, Kheng Lee, Matt Webster, Clare Dixon, Paul Gainer, Dag Syrdal, Michael Fisher & Kerstin Dautenhahn
2021. Use and usability of software verification methods to detect behaviour interference when teaching an assistive home companion robot: A proof-of-concept study. Paladyn, Journal of Behavioral Robotics 12:1 ► pp. 402 ff. DOI logo
Paldán, Katrin, Andreas Künz, Walter Ritter & Daire O. Broin
2021. Designing for App Usage Motivation to Support a Gluten-Free Diet by Comparing Various Persuasive Feedback Elements. In Human-Computer Interaction. Interaction Techniques and Novel Applications [Lecture Notes in Computer Science, 12763], ► pp. 446 ff. DOI logo
Reinhardt, Delphine, Monisha Khurana & Luca Hernández Acosta
2021. “I still need my privacy”: Exploring the level of comfort and privacy preferences of German-speaking older adults in the case of mobile assistant robots. Pervasive and Mobile Computing 74 ► pp. 101397 ff. DOI logo
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2021. Integrative Soziale Robotik. In Soziale Roboter, ► pp. 125 ff. DOI logo
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2020. ROBOTS IN EDUCATION: A JORDANIAN UNIVERSITY CASE STUDY. Journal of Management and Business Education 3:2 ► pp. 164 ff. DOI logo
Aoyagi, Saizo, Satoshi Fukumori & Michiya Yamamoto
2020. A Long-Term Evaluation of Social Robot Impression. In Human Interface and the Management of Information. Interacting with Information [Lecture Notes in Computer Science, 12185], ► pp. 131 ff. DOI logo
Banks, Jamie & Maartje de Graaf
2020. Toward an Agent-Agnostic Transmission Model: Synthesizing Anthropocentric and Technocentric Paradigms in Communication. Human-Machine Communication 1 ► pp. 19 ff. DOI logo
Davison, Daniel P., Frances M. Wijnen, Vicky Charisi, Jan van der Meij, Vanessa Evers & Dennis Reidsma
2020. Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, ► pp. 63 ff. DOI logo
Hoorn, Johan F.
2020. Theory of Robot Communication: II. Befriending a Robot Over Time. International Journal of Humanoid Robotics 17:06 ► pp. 2050027 ff. DOI logo
Jaschinski, Christina, Somaya Ben Allouch, Oscar Peters & Jan van Dijk
2020. The Influence of Privacy on the Acceptance of Technologies for Assisted Living. In Human Aspects of IT for the Aged Population. Healthy and Active Aging [Lecture Notes in Computer Science, 12208], ► pp. 463 ff. DOI logo
Paetzel, Maike, Giulia Perugia & Ginevra Castellano
2020. Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, ► pp. 73 ff. DOI logo
Rossi, Alessandra, Kerstin Dautenhahn, Kheng Lee Koay, Michael L. Walters & Patrick Holthaus
2020. Evaluating People’s Perceptions of Trust in a Robot in a Repeated Interactions Study. In Social Robotics [Lecture Notes in Computer Science, 12483], ► pp. 453 ff. DOI logo
Rossi, Silvia, Alessandra Rossi & Kerstin Dautenhahn
2020. The Secret Life of Robots: Perspectives and Challenges for Robot’s Behaviours During Non-interactive Tasks. International Journal of Social Robotics 12:6 ► pp. 1265 ff. DOI logo
Azevedo, Helio & Isaque Elcio Souza
2019. 2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019 Workshop on Robotics in Education (WRE), ► pp. 311 ff. DOI logo
Blond, Lasse
2019. Studying robots outside the lab: HRI as ethnography. Paladyn, Journal of Behavioral Robotics 10:1 ► pp. 117 ff. DOI logo
Chung, Kyungjin, Young Hoon Oh & Da Young Ju
2019. Proceedings of the 7th International Conference on Human-Agent Interaction, ► pp. 277 ff. DOI logo
de Graaf, Maartje M. A., Somaya Ben Allouch & Jan A. G. M. van Dijk
2019. Why Would I Use This in My Home? A Model of Domestic Social Robot Acceptance. Human–Computer Interaction 34:2 ► pp. 115 ff. DOI logo
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2018. A phased framework for long-term user acceptance of interactive technology in domestic environments. New Media & Society 20:7 ► pp. 2582 ff. DOI logo
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2019. Children’s acceptance of social robots. Interaction Studies. Social Behaviour and Communication in Biological and Artificial Systems 20:3 ► pp. 393 ff. DOI logo
de Jong, Chiara, Jochen Peter, Rinaldo Kühne & Alex Barco
2022. Children’s Intention to Adopt Social Robots: A Model of its Distal and Proximal Predictors. International Journal of Social Robotics 14:4 ► pp. 875 ff. DOI logo
De Jong, Chiara, Jochen Peter, Rinaldo Kühne & Alex Barco
2024. Children's Acceptance of a Domestic Social Robot: How It Evolves over Time. ACM Transactions on Human-Robot Interaction 13:2 ► pp. 1 ff. DOI logo
de la Puente, Paloma, Markus Bajones, Christian Reuther, Daniel Wolf, David Fischinger & Markus Vincze
2019. Robot Navigation in Domestic Environments: Experiences Using RGB-D Sensors in Real Homes. Journal of Intelligent & Robotic Systems 94:2 ► pp. 455 ff. DOI logo
Dereshev, Dmitry, David Kirk, Kohei Matsumura & Toshiyuki Maeda
2019. Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems, ► pp. 1 ff. DOI logo
Edwards, Chad, Autumn Edwards, Jihyun Kim, Patric R. Spence, Maartje de Graaf, Seungahn Nah & Astrid Rosenthal-von der Pütten
2019. 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), ► pp. 673 ff. DOI logo
Gomez-Donoso, Francisco, Félix Escalona, Francisco Miguel Rivas, Jose Maria Cañas & Miguel Cazorla
2019. Enhancing the Ambient Assisted Living Capabilities with a Mobile Robot. Computational Intelligence and Neuroscience 2019 ► pp. 1 ff. DOI logo
Gracia, Luis, J. Ernesto Solanes, Pau Muñoz-Benavent, Jaime Valls Miro, Carlos Perez-Vidal & Josep Tornero
2019. Human-robot collaboration for surface treatment tasks. Interaction Studies. Social Behaviour and Communication in Biological and Artificial Systems 20:1 ► pp. 148 ff. DOI logo
Jaeger, Christopher Brett, Alicia M. Hymel, Daniel T. Levin, Gautam Biswas, Natalie Paul & John Kinnebrew
2019. The interrelationship between concepts about agency and students’ use of teachable-agent learning technology. Cognitive Research: Principles and Implications 4:1 DOI logo
Michaelis, Joseph E. & Bilge Mutlu
2019. Proceedings of the 18th ACM International Conference on Interaction Design and Children, ► pp. 71 ff. DOI logo
Peek, S. T. M., K. G. Luijkx, H. J. M. Vrijhoef, M. E. Nieboer, S. Aarts, C. S. van der Voort, M. D. Rijnaard & E. J. M. Wouters
2019. Understanding changes and stability in the long-term use of technologies by seniors who are aging in place: a dynamical framework. BMC Geriatrics 19:1 DOI logo
Simão, Hugo & Tiago Guerreiro
2019. Extended Abstracts of the 2019 CHI Conference on Human Factors in Computing Systems, ► pp. 1 ff. DOI logo
Nicolas Spatola
2019. L’interaction Homme-Robot, de l’anthropomorphisme à l’humanisation. L’Année psychologique Vol. 119:4 ► pp. 515 ff. DOI logo
Herrero, Roberto Pinillos, Jaime Pulido Fentanes & Marc Hanheide
2018. Getting to Know Your Robot Customers: Automated Analysis of User Identity and Demographics for Robots in the Wild. IEEE Robotics and Automation Letters 3:4 ► pp. 3733 ff. DOI logo
Kunze, Lars, Nick Hawes, Tom Duckett, Marc Hanheide & Tomas Krajnik
2018. Artificial Intelligence for Long-Term Robot Autonomy: A Survey. IEEE Robotics and Automation Letters 3:4 ► pp. 4023 ff. DOI logo
de Graaf, Maartje M. A.
2016. An Ethical Evaluation of Human–Robot Relationships. International Journal of Social Robotics 8:4 ► pp. 589 ff. DOI logo

This list is based on CrossRef data as of 17 march 2026. Please note that it may not be complete. Sources presented here have been supplied by the respective publishers. Any errors therein should be reported to them.

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