## 1 Introduction and Related Work
### Assistive Technologies for Health Assessment  
A number of assistive technologies for health assessment and monitoring have been developed. In [7], [PERSON] et al. present a remote health monitoring system with a wearable device and a mobile application. The system enables caregivers to make informed decisions about the health of their patients. The included mobile application is intended for relatives and caregivers. [PERSON] et al. [8] present a framework of various digital solutions that can support the well-being of older adults, including applications for physical and cognitive training. Many wearable technologies for different applications in the healthcare domain exist [9]. They can add value to a user's life when motivation, user experience, and device features suit the users' needs [10].  
Another technology used in many different assistive capacities and environments is social robots. Among these is the robot iCat, a plastic cat with a face and a body, used for health self-management of older adults [11]. When behaving in a more social manner, such as expressing emotions and being attentive, this robot showed higher acceptance among users. Another example of a social robot used in an assistive context is the humanoid robot Pepper [12], which has been used to coach persons with dementia to motivate them to perform stimulating activities [13]. It has also been tested in domestic environments [14], showing high acceptability among elderly participants. The use of social robots has also  
Figure 1: An overview of our health monitoring system, described in detail in [6], is shown. Health data are acquired with a smartwatch, various connected devices for domestic use, as well as through interaction with a social robot and its underlying chatbot. The data can be enquired and visualized in a multi-platform mobile application, shown on the right.  
led to positive outcomes when used in psychosocial health interventions [15]. Additionally, they have shown high acceptance in terms of perceived enjoyment, ease of use, and trust with elderly users in their own homes [16], as well as high perceived usefulness and acceptance in supportive apartment living facilities [17]. Acceptance and interest in using social robots are higher among older adults than younger adults [18], as they tend to spend more time at home and have more difficulties with vision, hearing, or dexterity, areas in which robots can assist. While acceptance and willingness to use social robots for daily assistance are important factors, long-term motivation to actually use a robot is not guaranteed. The novelty effect can lead to users interacting with the robot less after it has been in the home for a certain time [19]. This is an important factor to be considered when developing robotic applications for long-term use.  
Social robots have also been used to conduct health assessments using e.g., PROMs [20; 21]. They have shown to be a promising approach in this context, as they lead to more positive interactions when delivering healthcare instructions, including asking health-related questions, compared to a computer tablet [22]. [PERSON] et al. [21] additionally found that geriatric patients find robot-assisted health assessments of equal value to non-robot-assisted assessments, further confirming the feasibility of using a robot for such health data acquisitions. Additionally, social robots have been tested for clinical screening interviews [23], including cognitive assessment, fall risk evaluation, and pain rating. They achieved satisfying results and high confidence and trust ratings from older adults. These findings indicate the suitability of social robots for conducting health assessments.