The phenomenon of solo-living young adults presents a distinct societal challenge, characterized by a potential lack of consistent social support and companionship. In this context, companion robots emerge as a promising technological intervention, offering the potential to mitigate feelings of loneliness and enhance overall well-being. However, the successful integration of these social agents into daily life hinges on more than their functional capabilities; it is critically dependent on the quality of the initial interaction. This first encounter establishes the foundational relationship between the user and the robot, shaping perceptions, expectations, and the likelihood of long-term engagement. Traditional human-robot interaction (HRI) research has often focused on task-oriented or longitudinal studies, leaving the nuanced, ritualistic “out-of-the-box” experience underexplored, particularly for companion robots aimed at emotional support. This research posits that the unboxing and initial interaction sequence is a pivotal design space. By employing a participatory design methodology, this study delves into the factors that constitute an optimal first encounter with a companion robot for young adults living alone, ultimately proposing and validating a novel design framework.
The significance of the first interaction cannot be overstated. In social psychology, the primacy effect underscores that early information weighs more heavily in forming judgments than information received later. This principle directly translates to HRI, where initial impressions are remarkably persistent and can be difficult to alter. A positive and engaging first encounter can foster immediate rapport, reduce uncertainty, and increase the perceived likability and trustworthiness of the companion robot. Conversely, a confusing, tedious, or overly mechanical introduction may create a lasting negative bias, hindering adoption regardless of the robot’s subsequent capabilities. Therefore, designing this moment requires shifting perspective from viewing the robot purely as a functional device to treating the entire introduction process as a curated social narrative.
This investigation is structured as follows: First, a literature review establishes the conceptual foundation, examining the unboxing phenomenon, factors influencing user perception of social robots, and the participatory design approach. Second, a qualitative user study identifies key themes and user needs surrounding the initial interaction. Third, a participatory design workshop is conducted to co-create novel interaction concepts with the target users. Fourth, based on the workshop insights, a high-fidelity prototype named the “Intelligent Space Capsule” is developed, embodying a new initial interaction flow. Finally, this prototype is empirically evaluated against a traditional unboxing experience to measure its impact on key perceptual dimensions.
Literature Review and Theoretical Foundation
The design of a companion robot’s first encounter sits at the intersection of several research domains: experience design, social robotics, and user-centered methodology.
The Unboxing Phenomenon as a Ritual
The act of unboxing a product has evolved from a mundane task into a significant experiential moment, often shared and celebrated in digital culture. Ketola defines the out-of-box experience (OoBE) as the initial experience where a user unpacks a new product from its box and sets it up for first use. This process is not merely transactional but is rich with emotional and symbolic meaning. It represents a transition of ownership, the beginning of a relationship with the object, and a moment of heightened anticipation and discovery. For emotionally resonant products like a companion robot, the OoBE is the inaugural chapter of its story. Research suggests that a well-designed unboxing ritual can dramatically enhance product attachment and satisfaction by transforming a mechanical process into an engaging narrative. The design challenge, therefore, extends beyond the robot itself to encompass its packaging, the sequence of discovery, and the initial “awakening” procedure.
Factors Shaping Perception of a Companion Robot
User perception of a social or companion robot is multifaceted, shaped by a confluence of factors that are especially potent during the first interaction. These can be summarized by the following equation, representing the formative perceptual impression \( P_{initial} \):
$$ P_{initial} = f(A, F, I_i, C, E) $$
Where:
- \( A \) = Aesthetic & Morphological Design: Physical appearance, materiality (e.g., soft vs. hard), size, and facial or bodily expressiveness.
- \( F \) = Familiarity & Conceptual Model: How easily the user can understand the robot’s nature, capabilities, and mode of operation.
- \( I_i \) = Initial Interaction Quality: The fluency, intuitiveness, and emotional valence of the first interactive sequence.
- \( C \) = Perceived Character & Animacy: The attribution of personality, life-likeness, and intentionality to the robot.
- \( E \) = Contextual & Personal Expectations: The user’s environment (e.g., private home), prior experiences, and specific needs (e.g., seeking companionship).
During the OoBE, factors \( A \), \( F \), and \( I_i \) are immediately salient. The packaging is the first manifestation of \( A \). The setup process defines \( F \) and \( I_i \). Successful design seamlessly integrates these elements to positively influence \( C \) and meet \( E \). Studies emphasize that an appealing aesthetic, combined with an interaction that feels natural and socially appropriate, can quickly foster perceptions of likability and animacy, which are crucial for a companion robot’s acceptance.
Participatory Design: Engaging the User as Co-Creator
Given the deeply personal and subjective nature of companionship, a top-down design approach risks misaligning with user expectations and emotional needs. Participatory Design (PD) offers a robust methodological alternative. Originating in Scandinavian workplace democracy movements, PD actively involves end-users in the design process as partners and co-creators. This approach is particularly valuable for companion robot design because:
- Elicits Tacit Knowledge: It helps uncover unarticulated needs, desires, and emotional triggers related to loneliness and companionship that users might not express in traditional interviews.
- Empowers Users: It fosters a sense of ownership and alignment between the final design and user values, potentially increasing adoption willingness.
- Generates Creative Solutions: Users, drawing from their own life experiences and cultural contexts, can propose innovative interaction ideas that designers might not conceive.
This research adopts a PD philosophy, moving from observing users to actively designing with them, ensuring that the proposed initial interaction framework is grounded in the lived reality of the target group.
Identifying Key Factors: A Qualitative User Study
To ground our design process in empirical data, we conducted a qualitative study with 14 young adults living alone (mean age 24.6, SD=3.4). The study involved two parts: 1) an observed unboxing and inspection of a commercially available companion robot (Cupboo) in its original packaging, and 2) a free exploration session with the activated robot. Think-aloud protocol and semi-structured interviews were used throughout. Thematic analysis of the data yielded nine core themes, which were categorized into two overarching domains: Packaging Design and Robot Interaction Design.
| Domain | Theme | User Insights & Design Implications |
|---|---|---|
| Packaging Design | 1. Holistic Integrity | Packaging should be a cohesive narrative extension of the robot. Inner and outer design, colors, and textures should harmonize with the robot’s aesthetic. Accessories should be integrated thoughtfully (e.g., a tag becoming part of the robot). |
| 2. Aesthetic & Narrative | The box is a communication medium. Illustrations, decorations, and text should progressively reveal the robot’s “story,” personality, and function, building anticipation and connection. | |
| 3. The Opening Moment | The opening mechanism and internal layout are crucial. It should be intuitive, smooth, and feel special. Components should be neatly organized, guiding the user through a logical discovery sequence. | |
| 4. Reusability & Role | The box should have a purpose beyond transport. Users desired it to become a “home” or docking station for the companion robot, providing a sense of permanent place and care. | |
| 5. Manual & Introduction | Traditional manuals are off-putting. A “backstory” letter or a quick-start guide using comics, videos, or simple narratives is preferred to build rapport and explain basics engagingly. | |
| Robot Interaction | 6. Natural Activation | The startup should avoid mechanical buttons. Users preferred biomimetic triggers (e.g., a gentle touch, squeeze, or voice greeting) that align with the companion role. |
| 7. Proactive Cues | The robot should signal its state (on/off, battery level) through clear, non-verbal cues like light patterns, subtle movements, or sounds, reducing user uncertainty. | |
| 8. Expressible Personality | The robot’s character should be immediately apparent and understandable through its initial responses, name, and vocal tone. Customizable names or greetings can enhance personal connection. | |
| 9. Contextual Interaction | Initial interactive activities should be suitable for private home environments, offering calming, simple companionship acts like responding to touch or providing quiet presence. |
Co-Creation: The Participatory Design Workshop
Building on these themes, we conducted a two-hour participatory design workshop with 9 solo-living young adults (including 7 from the initial study). The workshop aimed to transform abstract themes into concrete design concepts. It consisted of three stages:
- Theme Prioritization: Participants ranked the nine themes, sparking discussion on what mattered most. “Natural Activation,” “Expressible Personality,” and “Aesthetic & Narrative” consistently emerged as top priorities.
- Packaging Prototyping: Using craft materials, participants built low-fidelity prototypes for their ideal companion robot box, focusing on the five packaging-related themes.
- Interaction Storyboarding: Participants used role-playing and clay modeling to act out their envisioned first interaction sequence with the robot, addressing the four interaction-related themes.
The workshop yielded nine diverse but convergent concepts. A central, powerful idea was the transformation of the packaging from a passive container into an active social agent—a mediator that introduces and facilitates the relationship with the companion robot. Another key insight was the desire for a strong, simple narrative to guide the entire process. Synthesizing the output, we derived a generalized four-stage design flow for the initial encounter:
$$
\begin{aligned}
&\text{Stage 1: Pre-Interaction} \rightarrow \text{Stage 2: Unboxing Process} \\
&\rightarrow \text{Stage 3: Activation Ritual} \rightarrow \text{Stage 4: First Social Exchange}
\end{aligned}
$$
This flow emphasizes a gradual, narrative-led transition from anticipation to social partnership with the companion robot.
Prototype Design: The Intelligent Space Capsule
Guided by the PD workshop results, we developed a high-fidelity prototype named the “Intelligent Space Capsule.” This design re-conceptualizes the entire initial interaction around a science-fiction narrative where the companion robot is an alien entity arriving in a smart capsule. The prototype integrates electronics (Arduino, LED strips, speaker, servo, RFID sensor) into a custom-built package to realize the envisioned interactive behaviors.
Design Rationale and Components
The design instantiates the key themes through a unified narrative. The box is no longer a box; it is a “Space Capsule” with a social presence. This directly addresses themes of Holistic Integrity, Aesthetic & Narrative, and Reusability. The capsule has a clear persona (the ship’s AI, “LUNA”) and acts as a guide, addressing the need for clear Proactive Cues and Manual & Introduction.
The companion robot used is a modified Cupboo, now framed as the capsule’s inhabitant. The activation ritual is designed to feel Natural and imbued with Personality. The technical implementation is summarized below:
| Component | Function | Addresses Theme(s) |
|---|---|---|
| RFID Sensor & “Key” Letter | Detects a physical letter (the story/key) to initiate unboxing. | Aesthetic & Narrative, The Opening Moment |
| Servo Motor & Valve Knob | Mechanically opens the capsule door with a satisfying rotational action. | The Opening Moment, Holistic Integrity |
| LED Light Strip | Provides ambient lighting, welcome sequences, and state feedback (e.g., low battery = red pulsing). | Proactive Cues, Aesthetic & Narrative |
| Audio Speaker & Button | The capsule “speaks” to the user, delivering the narrative, instructions, and commentary on the robot’s state. | Expressible Personality (Capsule AI), Manual & Introduction |
| Small LCD Screen | Displays text of the AI’s speech, simple emoticons of the robot, and system status. | Proactive Cues, Familiarity |
| Interior “Habitat” Design | The inside is decorated as a mini-habitat (e.g., illustrated scenery), serving as the robot’s permanent nook. | Reusability & Role, Contextual Interaction |
The Four-Stage Interaction Flow
The designed sequence meticulously follows the co-created flow, creating a guided experiential journey.
Stage 1: Pre-Interaction. The user receives a physical “S.O.S. Letter” from the LUNA space capsule, introducing the narrative and the lost alien companion robot inside. The letter ends with instructions and functions as the physical RFID key. This stage builds anticipation and contextualizes the companion robot before it is even seen.
Stage 2: The Unboxing Process. The user places the letter-key on the marked spot on the capsule. The capsule emits a confirmation sound. Turning the large “airlock valve” knob triggers the servo to slowly open the door, accompanied by a welcoming pattern of lights on the capsule’s exterior. The interior habitat is revealed.
Stage 3: Activation Ritual. The capsule’s AI (via speaker) greets the user and provides brief backstory. It then instructs the user on how to “wake” the companion robot: “Please tap your new companion gently three times on the head.” This replaces a power button with a socially congruent, natural gesture.
Stage 4: First Social Exchange. Upon the user’s touch, the companion robot animates (lights up, makes a sound, moves). The capsule AI provides positive feedback (“It seems happy to meet you!”) and suggests a first interactive activity, such as “Try petting its back. It likes that.” This facilitates an immediate, successful social exchange, solidifying a positive first impression.
The narrative coherence throughout these stages can be modeled as a function that enhances the perceived connection \( C_{perceived} \):
$$ C_{perceived} = N_{strength} \times (I_{guidance} + I_{natural}) $$
Where \( N_{strength} \) is the strength and clarity of the unifying narrative, \( I_{guidance} \) is the level of supportive guidance provided (by the capsule), and \( I_{natural} \) is the perceived naturalness of the interaction gestures. Our design aims to maximize all three variables.
Evaluation and Results
To evaluate the efficacy of our designed initial interaction, we conducted a comparative study with 32 young adults living alone (mean age 25.3, SD=3.59). Each participant experienced both the traditional unboxing of the standard Cupboo robot and the novel “Intelligent Space Capsule” interaction in a counterbalanced order. After each experience, they completed the relevant subscales of the Godspeed Questionnaire Series, a standard metric in HRI for measuring user perception.
| Godspeed Dimension | Traditional Unboxing (Mean ± SD) | Optimized “Capsule” Interaction (Mean ± SD) | t-value (paired) | p-value |
|---|---|---|---|---|
| Anthropomorphism | 4.03 ± 0.87 | 6.25 ± 0.79 | -6.126 | < 0.001 |
| Animacy | 3.44 ± 0.83 | 6.13 ± 0.75 | -6.453 | < 0.001 |
| Likeability | 4.12 ± 0.91 | 6.31 ± 0.80 | -6.280 | < 0.001 |
| Perceived Intelligence | 4.36 ± 0.72 | 4.47 ± 0.67 | -0.524 | 0.612 |
| Perceived Safety | 5.25 ± 0.76 | 5.30 ± 0.70 | -0.235 | 0.822 |
The results are statistically clear. The optimized initial interaction led to significantly higher ratings on Anthropomorphism (the attribution of human-like characteristics), Animacy (the perception of being alive and lively), and Likeability. The largest improvement was observed in Animacy, suggesting our design succeeded in making the companion robot feel more lifelike from the very first moment. There was no significant difference in Perceived Intelligence or Safety, which is expected as the core cognitive capabilities and physical form of the robot were unchanged; the intervention specifically targeted the socio-emotional framing of the introduction.
Qualitative feedback from participants reinforced these findings. Users described the capsule interaction as “charming,” “engaging,” and “it felt like I was really meeting someone new.” They highlighted the capsule’s role as a “social bridge” that reduced initial awkwardness and made the companion robot’s behaviors feel more understandable and intentional. This validates the core premise: a carefully designed initial interaction ritual can profoundly shape foundational user perceptions of a companion robot.
Discussion: A Framework for First Encounters
The findings from this research converge into a proposed framework for designing initial interactions for companion robots targeting solo-living users. This framework is built on two pillars: a set of Key Design Factors and a Phased Narrative Flow.
Synthesis of Key Factors and Their Mechanism
The nine initial themes can be synthesized into three higher-order design principles that drive positive first impressions:
1. Narrative Cohesion: The entire unboxing-to-first-interaction sequence must tell a simple, consistent story. This story integrates the packaging’s aesthetic, the robot’s presented personality, and the user’s role. It transforms the experience from setup to discovery.
2. Guided Socialization: The transition from owning a device to engaging with a social agent requires scaffolding. An active mediator (like the smart capsule) or embedded narrative cues can provide this guidance, reducing uncertainty and teaching the user the “social rules” for interacting with the companion robot.
3. Biomimetic & Ritualistic Actions: Replace mechanical commands (press button) with action patterns that mimic social or care-giving interactions (touch, speak, greet). These rituals feel more natural and appropriate for a companion, strengthening the attribution of animacy and likeability.
The mechanism by which these principles improve perception can be summarized as reducing cognitive and social friction during the critical first encounter, thereby allowing the user’s propensity for social bonding to engage more readily with the companion robot.
Design Implications and Future Work
The “Intelligent Space Capsule” prototype serves as one instantiation of this framework. The framework itself, however, is generative. Designers could apply it with different narratives (e.g., a magical egg, a rescued creature, a futuristic pod) and different mediating mechanisms. The core insight is to design the transition as a key product feature.
Future work should focus on longitudinal studies to determine if the significant boost in initial anthropomorphism, animacy, and likeability translates into higher long-term engagement, emotional attachment, and perceived effectiveness of the companion robot in alleviating loneliness. Additionally, exploring the personalization of this initial narrative—allowing users to choose or influence the story—could further strengthen the immediate personal connection. Finally, investigating the scalability and cost-effectiveness of such immersive unboxing experiences for mass-market companion robots remains a practical challenge to address.
Conclusion
This research underscores that the first encounter with a companion robot is a decisive, designable experience that goes far beyond simple usability. For the solo-living young adult, a target user group with distinct emotional needs, this moment sets the tone for the potential human-robot relationship. Through a participatory design process, we identified and prioritized user needs, which highlighted the desire for a narrative-driven, socially guided, and natural introduction ritual. The resulting design framework, instantiated in the “Intelligent Space Capsule” prototype, successfully transformed the packaging into an active social mediator and choreographed the first meeting into a cohesive story. Empirical evaluation confirmed that this optimized approach significantly enhances initial perceptions of the companion robot’s lifelikeness, human-likeness, and appeal. Ultimately, this work argues that for a companion robot to succeed as a social and emotional agent, designers must give as much care to designing its introduction into the user’s life and home as to its subsequent behaviors. The initial interaction is not merely the first step; it is the foundational act of relationship-building between human and machine.