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AbstractAbstract in Undetermined The aim of the PhD project is to understand and learn about the characteristics that influence old adults’ acceptance of assistive robots and of robots as social companions. It is also to explore participatory design methods in order to involve old adults in the design process of new technologies. The goal is to apply/implement the results in two robotics systems developed to support old adults in their homes. Through an interactive multi-step design process, a design specification of a robot will be proposed. A first prototype will then be built based on this specification. The prototype will be tested and evaluated with “real” users in a lab setting. The findings will result in an improved design specification and a second prototype will then be built and evaluated by users in their home environments.