## 5 Results
### Overall Comparison: PILLAR vs. DUO vs. TRIbot
#### 5.4.1 Top Choice: TRIbot  
Across both the US and Japanese (JP) participants, TRIbot was the most preferred robot embodiment (Figure 11). One participant said simply, \"I want one [TRIbot] just because of the coolness of it\" [PU35]. **Mobility. ** One participant stated that they preferred \"the unanchored one, the TRIbot, is gonna be the easiest because I'm sure it rolls\" [PU07]. Others equate the self-standing, aspect to freedom as they stated: \"I like it (TRIbot) because it's free. I like total freedom\" [PJ24] and \"able to move freely on its own\" [PJ27]. When shown the DUO and PILLAR robots, participants often were repelled by the idea of installations of tracks and rails within their homes as it would be \"difficult to install rails on the ceiling of the entire house\" [PJ-35,36]. Many participants plainly stated that it was \"unrealistic\", \"impractical\", and difficult to install rails into the ceiling for DUO and PILLAR [PU26,PJ-16,38,39,46,48]. Overall the independence from the home strongly contributed to TRIbot being the most highly ranked embodiment (Figure 11) as being \"an independent unit...would make it more applicable to people who don't wanna install something in the ceiling\" [PU31]. **Human-like Embodiment and Mannerism. ** Participants reported that support from TRIbot would feel \"the most human-like\" [PJ-05,09,24,29,34,35,38,40,42,46, PU-05,18,21,24]. One participant stated that \"TRIbot, is more lifelike, more friendly, and if you put a face on there and have it be able to talk to you, that is definitely my preference\" [PU30]. Another explained that when they \"receive care, it is when they are unwell...and would prefer a robot this is a little more human, not a machine\" [PJ42]. One participant explained \"My preference is the Tribot as well. It's just more human-like. And it just seems safer overall\" [PU28]. Further likening TRIbot to humans, participants expressed that TRIbot seemed \"warm\" [PJ05] and gentle [PJ38, PU-01,02,06,13,33]. Participants explained that TRIbot was \"the most gentle\" and that TRIbot's care seemed \"gentle, effective, and pretty safe\" [PU01]. With the human-like embodiment, participants often compared TRIbot's care to that of professional caregivers or nursing assistants; \"And that is to say that when I saw the TRIbot, I did think how that would be so helpful in caregiving situations or like nursing assistants\" [PU26, PJ42]. One participant explained how the movements of TRIbot felt \"the  
Figure 11: Summary of participants’ positive and negative feedback about the 3 robot embodiments. The first 2 rows indicate how many participants from each country preferred a specific embodiment; 2 JP and 4 US participants did not provide their preference. TRIbot was the most preferred overall. closest in movement to a human helper: the way its arms hold and support the user and its positioning is just like a human\" [PJ31]. Another added that \"it looks like the robot is reproducing the movements of a care helper\" [PJ35]. **Mobility. ** In both the US and JP, participants valued TRIbot's independence [PU12, PU22,41, PJ24], free-standing [PU-13,14, PJ24], and mobility aspects provide the most freedom of capabilities. Many stated that \"unlike other robots, TRIbot does not require construction work on the house\" [PJ08] thus making it the more appealing embodiment. Participants reported that the ability for TRIbot to \"walk with me\" [PJ-09,27,30] or \"follow me\" [PU13, PJ-24,39] was reasoning for it to be their primary choice, further stating that \"you can take it in and out, outside the house, and anywhere you go\" [PU36, PJ30]. Additionally, one participant had formed a positive attitude towards TRIbot's movement: \"I was surprised at how smooth the robot's movements were. I guess developers paid much attention to details such as joints to reproduce human-like movements\" [PJ34]. **Level of Care. ** TRIbot was also preferred for care receivers (CR) who need higher levels of support [PJ04].