**4.2 Participative technology development and user studies accompanied by ELSA**

The technical development and implementation of the robotic system follows an iterative, participatory research approach. Together with the users, the project team will develop prototype functions of the system in creativity workshops. In addition, the attitude, usability, user experience and technology acceptance will be recorded in a pre–post design of participative user studies following a technographic mixedmethod approach. This approach enables a detailed description of the human–robot interaction for the derivation of scientific and user-oriented findings, which are directly applied in further technical development. The final evaluation of the demonstrators takes place in the context of field tests, which are meant to raise and analyze the effectiveness of the functions in domestic and public environments. The following research questions will be answered:

