Towards Equitable Robotic Furnishing Agents for Aging-in-Place: ADL-Grounded Design Exploration
Organizations: Imperial College London, United Kingdom · KIST, Republic of Korea
Abstract
In aging-in-place contexts, small difficulties in Activities of Daily Living (ADL) can accumulate, affecting well-being through fatigue, anxiety, reduced autonomy, and safety risks. This position paper argues that robotics for older adult wellbeing must move beyond "convenience features" and centre equity, justice, and responsibility. We conducted ADL-grounded semi-structured interviews with four adults in their 70s-80s, identifying recurrent challenges (finding/ organising items, taking medication, and transporting objects) and deriving requirements to reduce compounded cognitive-physical burden. Based on these insights, we propose an in-home robotic furnishing-agent concept leveraging computer vision and generative AI and LLMs for natural-language interaction, context-aware reminders, safe actuation, and user-centred transparency. We then report video-stimulated follow-up interviews with the same participants, highlighting preferences for confirmation before actuation, predictability, adjustable speed/autonomy, and multimodal feedback, as well as equity-related concerns. We conclude with open questions on evaluating and deploying equitable robotic wellbeing systems in real homes.
Figures & tables
| Activity | Participant statement (P1-P4) | Painpoint |
| Organizing & Finding | • Forget storage locations of infrequently used items. (P1) • Forget drawer contents despite category-based storage. (P3) • Repeated drawer use while searching for items can cause unintended collisions. (P4) • Laundry sorting triggers repeated opening/closing due to location lapses. (P3) | Cognitive and physical strain from repeated drawer use |
| Taking Medication | • Miss medication when engaged in other activities. (P1) • Keep empty snack items visible to confirm intake. (P2) • Keep medication within sight/reach for timing-sensitive routines. (P3) | Mental load from remembering and checking medication intake |
| Transporting Objects | • Want help carrying heavy groceries. (P2) • Laundry requires repeated carrying, which is exhausting. (P4) • Difficulty moving large items through narrow spaces. (P2) | Physical fatigue from low strength and frequent repeated movement |
| Function | Scenario-based probes |
| Automatic drawer opening/closing | • Would this help when finding or organising items? • How should the drawer be triggered? • In what other situations could this be used? • What additional functions are needed? |
| Equity-oriented cognitive reminders | • Would this help when taking medication or routine situations? • How would you like to be notified? • In what other situations could this be used? • What additional functions are needed? |
| Obstacle-avoiding navigation for goal-directed transport | • Would this help when carrying heavy or multiple items? • How should transport be initiated? • In what other situations could this be used? • What additional functions are needed? |
| Function | Use Context / Situation | Preferred Interaction | Additional needs |
| Automatic drawer opening /closing | • Helpful when repeatedly opening and closing drawers due to forgotten locations.(P1, P2) • Organising contexts requiring frequent drawer opens(P3, P4) • Supports routines requiring attention and memory.(P3) | • System-initiated voice prompts when finding items.(P1, P3) • User-triggered opening via short voice commands.(P2) • Automatic opening of the relevant drawer when an item is specified(P4). | User-adjustable opening and closing speed to avoid being startled.(P1) |
| Equity-oriented cognitive reminders | • Useful for remembering medication and daily routines in time-sensitive situations.(P1–P4) • Helpful for recalling what to bring before going out.(P3) | • Voice reminders with medicine-drawer opening at medication time.(P1, P2) • Reminders that include context-specific explanations.(P4) | Voice and LED cues for recalling key items before leaving.(P3) |
| Obstacle-avoiding navigation for goal-directed transport | • Useful when carrying heavy or multiple items.(P1–P4) • Helpful when the robot comes to the entrance so I can sit to put on shoes.(P1) | • Automatic Approach when both hands are full with items.(P1–P4) • Approach as a chair only when explicitly requested.(P1) | Advance verbal notice of how it will move indoors.(P2) |
Assistive Robotics
Assistive robotics develops robots and wearable devices that support mobility, daily activities, rehabilitation, and care.
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