Towards Happy Housework: Scenario-Based Experience Design for a Household Cleaning Robotic System




cleaning robotic system, user experience design, scenario-based design, pragmatic quality, hedonic quality


INTRODUCTION: In the interwoven trend of the experience economy and advanced information technology, user experience becomes the substantial value of an interactive system. As one of the early innovations of a smart home, the current design of household cleaning robots is still driven by technology with a focus on pragmatic quality rather than the experiential value of a robotic system.

OBJECTIVES: This paper aims to uplift the design vision of a cleaning robot from an automatic household appliance towards a meaningful robotic system engaging users in happy housework.

METHODS: Theoretically, experience design and scenario-based design methods were combined into a specific design framework for domestic cleaning robotic systems. Based on the user study and technology trend analysis, we first set three experience goals (immersion, trust, and inspiration) to drive the design process, then chose 3D point cloud and AI recognition as backup technologies and afterwards extracted three main design scenarios (scanning and mapping, intelligent cleaning, and live control).

RESULTS: The design features multi-view switching, a combination of animation rendering and real scene, fixed-point cleaning, map management, lens control and flexible remote, and shooting modes are proposed. Seventy-one participants evaluated the concept with online AttrakDiff questionnaires. The results indicate the targeted experience is fulfilled in the design concept.

CONCLUSION: By integrating experience design and scenario-based design methods with technology trend analysis, designers can envision experiential scenarios of meaningful life and potentially expand the design opportunity space of interactive systems.


Klapperich H, Uhde A, Hassenzahl M. Designing everyday automation with well-being in mind. Pers Ubiquit Comput 2020; 24:763–779.

Hassenzahl M, Burmester M, Koller F. User Experience Is All There Is. I-com. 2021; 20:197–213.

Caplan LJ, Schooler C. Household Work Complexity, Intellectual Functioning, and Self-Esteem in Men and Women. J Marriage Fam. 2006; 68:883–900.

Marcum CS. Age Differences in Daily Social Activities. Res Aging. 2013; 35:612–640.

Tang SM. When leisure collides with paid work and domestic labor: Gender differences in leisure experiences. J. Tourism. Leis. Stud, 2010;16, 1-18.

Hanley AW, Warner AR, Dehili VM, Canto AI, Garland EL. Washing Dishes to Wash the Dishes: Brief Instruction in an Informal Mindfulness Practice. Mindfulness. 2015; 6:1095–1103.

Saxbe DE, Repetti R. No Place Like Home: Home Tours Correlate With Daily Patterns of Mood and Cortisol. Pers Soc Psychol B. 2010; 36:71–81.

Lee CF, Tang SM. What Type of Housework Happiness Do You Prefer? Does Gender and Health Matter? A Taiwanese Study. Int J Environ Res Pu. 2022;19; 14:8409.

Hassenzahl M, Eckoldt K, Diefenbach S, Laschke M, Lenz E, Kim J. Designing moments of meaning and pleasure. Experience design and happiness. Int J Des. 2013;7(3):21–31.

Kim MJ, Cho ME, Jun HJ. Developing Design Solutions for Smart Homes Through User-Centered Scenarios. Front Psychol. 2020; 11:335.

Vallivaara I, Haverinen J, Kemppainen A, Röning J. Magnetic field-based SLAM method for solving the localization problem in mobile robot floor-cleaning task. 2011 15th Int Conf Adv Robotics Icar. 2011;198–203.

Prassler E, Kosuge, K. Domestic Robotics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. 2008. Springer, Berlin, Heidelberg.

Joon A, Kowalczyk W. Design of Autonomous Mobile Robot for Cleaning in the Environment with Obstacles. Appl Sci. 2021;11: 8076.

Bisht RS, Pathak PM, Panigrahi SK. Design and development of a glass façade cleaning robot. Mech Mach Theory. 2022; 168:104585.

Muthugala MAVJ, Vega-Heredia M, Mohan RE, Vishaal SR. Design and Control of a Wall Cleaning Robot with Adhesion-Awareness. Symmetry. 2020; 12:122.

Palleja T, Tresanchez M, Teixido M, Palacin J. Modeling floor-cleaning coverage performances of some domestic mobile robots in a reduced scenario. Robot Auton Syst. 2010;58 :37–45.

Vaussard F, Fink J, Bauwens V, Rétornaz P, Hamel D, Dillenbourg P, et al. Lessons learned from robotic vacuum cleaners entering the home ecosystem. Robot Auton Syst. 2014;62: 376–391.

Sung JY, Guo L, Grinter RE, Christensen HI. UbiComp 2007: Ubiquitous Computing - “My Roomba Is Rambo”: Intimate Home Appliances. Lect Notes Comput Sc. 2007;145–162.

Fink J, Bauwens V, Kaplan F, Dillenbourg P. Living with a Vacuum Cleaning Robot. Int J Soc Robot. 2013;5 :389–408.

Forlizzi J, DiSalvo C. Service robots in the domestic environment: a study of the roomba vacuum in the home. Proceeding 1st Acm Sigchi Sigart Conf Human-robot Interact - Hri ’06. 2006;258–265.

Kitamura Y, Quigley A, Isbister K, Igarashi T, Bjørn P, Drucker S, et al. Domestic Robots and the Dream of Automation: Understanding Human Interaction and Intervention. Proc 2021 Chi Conf Hum Factors Comput Syst. 2021:1–13.

Diefenbach S, Hassenzahl M. The dilemma of the hedonic – Appreciated, but hard to justify. Interact Comput. 2011;23: 461–472.

Desmet PMA, Pohlmeyer AE. Positive design: An introduction to design for subjective well-being. Int. J. Design. 2013; 7, 5–19.

Petermans A, Cain R. Design for Wellbeing: an applied approach. London, Routledge; 2019.

Lu Y, Roto V. Evoking meaningful experiences at work – a positive design framework for work tools. J Eng Design 2015;26: 99–120.

Whittaker S, Rogers Y, Petrovskaya E, Zhuang H. Designing Personas for Expressive Robots: Personality in the New Breed of Moving, Speaking, and Colorful Social Home Robots. Acm Transactions Human-robot Interact. 2021;10: 1–25.

Hendriks B, Meerbeek B, Boess S, Pauws S, Sonneveld M. Robot Vacuum Cleaner Personality and Behavior. Int J Soc Robot. 2011; 3: 187–195.

Papadopoulos I, Koulouglioti C, Lazzarino R, Ali S. Enablers and barriers to the implementation of socially assistive humanoid robots in health and social care: a systematic review. Bmj Open. 2020;10: e033096.

Fitter NT, Mohan M, Kuchenbecker KJ, Johnson MJ. Exercising with Baxter: preliminary support for assistive social-physical human-robot interaction. J Neuroeng Rehabil. 2020;17 :19.

Kim Y, Tscholl M. Young children’s embodied interactions with a social robot. Educ Technology Res Dev. 2021;69: 2059–2081.

Jong C de, Peter J, Kühne R, Barco A. Children’s Intention to Adopt Social Robots: A Model of its Distal and Proximal Predictors. Int J Soc Robot. 2021;14: 875–891.

Allaban AA, Wang M, Padır T. A Systematic Review of Robotics Research in Support of In-Home Care for Older Adults. Information. 2020;11: 75.

Roccetti M, Prandi C, Mirri S, Salomoni P. Designing human-centric software artifacts with future users: a case study. Human-centric Comput Information Sci. 2020; 10:8.

Fronemann N, Pollmann K, Loh W. Should my robot know what’s best for me? Human–robot interaction between user experience and ethical design. Ai Soc. 2022; 37: 517–533.

Ikonen V. Scenario-Based Design as an Approach to Enhance User Involvement and Innovation. In: Stephanidis, C. (eds) Universal Acess in Human Computer Interaction. Coping with Diversity. UAHCI 2007. Springer, Berlin, Heidelberg. Lecture Notes in Computer Science, vol 4554.

Carroll JM. Five reasons for scenario-based design. Interact Comput. 2000; 13: 43–60.

Carroll JM. Making Use: Scenarios and Scenario-Based Design. Proceedings of the 3rd Conference on Designing Interactive Systems: Processes, Practices, Methods, and Techniques [Internet]. New York, NY, USA: Association for Computing Machinery; 2000. p. 4.

Michailidou I. Design the experience first: A scenario-based methodology for the design of complex, tangible consumer products (Doctoral dissertation, Dissertation, München, Technische Universität München, 2017).

McGinn C, Sena A, Kelly K. Controlling robots in the home: Factors that affect the performance of novice robot operators. Appl Ergon. 2017; 65: 23–32.

Neuhaus R, Ringfort-Felner R, Dörrenbächer J, Hassenzahl M. How to Design Robots with Superpowers. InMeaningful Futures with Robot 2023. Taylor & Francis.

Syrdal DS, Dautenhahn K, Koay KL, Ho WC. Views from Within a Narrative: Evaluating Long-Term Human–Robot Interaction in a Naturalistic Environment Using Open-Ended Scenarios. Cogn Comput. 2014; 6: 741–959.

Cortellessa G, Scopelliti M, Tiberio L, Koch Svedberg G, Loutfi A, and Pecora F. A cross-cultural evaluation of domestic assistive robots. Proceedings of the AAAI Fall Symposium on AI in Eldercare: New Solutions to Old Problems; 2008; Arlington, VA.p.24-31.

Zhang C. The Why, What, and How of Immersive Experience. Ieee Access. 2020; 8: 90878–90888.

Desmet PMA. Faces of product pleasure: 25 Positive emotions in human-product interactions. Int. J. Design. 2012; 6(2): 1-29.

Hassenzahl M, Burmester M, Koller F. Mensch & Computer 2003, Interaktion in Bewegung. Berichte Des Ger Chapter Acm. 2003;187–196.




How to Cite

Lu Y, Liao Z. Towards Happy Housework: Scenario-Based Experience Design for a Household Cleaning Robotic System. EAI Endorsed Scal Inf Syst [Internet]. 2023 Jan. 31 [cited 2023 Mar. 28];10(3):e12. Available from:

Funding data