{"id":"https://openalex.org/W4415267369","doi":"https://doi.org/10.3389/frobt.2025.1648737","title":"An in-situ participatory approach for assistive robots: methodology and implementation in a healthcare setting","display_name":"An in-situ participatory approach for assistive robots: methodology and implementation in a healthcare setting","publication_year":2025,"publication_date":"2025-10-16","ids":{"openalex":"https://openalex.org/W4415267369","doi":"https://doi.org/10.3389/frobt.2025.1648737","pmid":"https://pubmed.ncbi.nlm.nih.gov/41181522"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1648737","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1648737","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1648737/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1648737/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114467157","display_name":"Ferran Gebell\u00ed","orcid":"https://orcid.org/0000-0001-5993-9467"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ferran Gebell\u00ed","raw_affiliation_strings":["PAL Robotics, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"PAL Robotics, Barcelona, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065709426","display_name":"Raquel Ros","orcid":"https://orcid.org/0000-0002-8295-6932"},"institutions":[{"id":"https://openalex.org/I4210131846","display_name":"Artificial Intelligence Research Institute","ror":"https://ror.org/03c0ach84","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210131846"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Raquel Ros","raw_affiliation_strings":["Artificial Intelligence Research Institute (IIIA-CSIC), Bellaterra, Spain","PAL Robotics, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Institute (IIIA-CSIC), Bellaterra, Spain","institution_ids":["https://openalex.org/I4210131846"]},{"raw_affiliation_string":"PAL Robotics, Barcelona, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5114467157"],"corresponding_institution_ids":[],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":4.0858,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94072574,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"1648737","last_page":"1648737"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.8964999914169312,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.8964999914169312,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.011099999770522118,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.008100000210106373,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/health-care","display_name":"Health care","score":0.5717999935150146},{"id":"https://openalex.org/keywords/participatory-design","display_name":"Participatory design","score":0.4650000035762787},{"id":"https://openalex.org/keywords/citizen-journalism","display_name":"Citizen journalism","score":0.46239998936653137},{"id":"https://openalex.org/keywords/participatory-evaluation","display_name":"Participatory evaluation","score":0.4341000020503998},{"id":"https://openalex.org/keywords/assistive-technology","display_name":"Assistive technology","score":0.38760000467300415},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.376800000667572}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7422999739646912},{"id":"https://openalex.org/C160735492","wikidata":"https://www.wikidata.org/wiki/Q31207","display_name":"Health care","level":2,"score":0.5717999935150146},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5144000053405762},{"id":"https://openalex.org/C2777455480","wikidata":"https://www.wikidata.org/wiki/Q1038171","display_name":"Participatory design","level":3,"score":0.4650000035762787},{"id":"https://openalex.org/C203663800","wikidata":"https://www.wikidata.org/wiki/Q848979","display_name":"Citizen journalism","level":2,"score":0.46239998936653137},{"id":"https://openalex.org/C2778969656","wikidata":"https://www.wikidata.org/wiki/Q7140449","display_name":"Participatory evaluation","level":2,"score":0.4341000020503998},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.40290001034736633},{"id":"https://openalex.org/C3017715821","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive technology","level":2,"score":0.38760000467300415},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.376800000667572},{"id":"https://openalex.org/C140988679","wikidata":"https://www.wikidata.org/wiki/Q7140444","display_name":"Participatory action research","level":2,"score":0.3538999855518341},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.32409998774528503},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.3019999861717224},{"id":"https://openalex.org/C3017568202","wikidata":"https://www.wikidata.org/wiki/Q2899888","display_name":"User needs","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.2809999883174896},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.2646999955177307},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.2531000077724457},{"id":"https://openalex.org/C2988170871","wikidata":"https://www.wikidata.org/wiki/Q11000047","display_name":"Healthcare system","level":3,"score":0.25209999084472656}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2025.1648737","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1648737","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1648737/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:41181522","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41181522","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:digital.csic.es:10261/418607","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/418607","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:b736d6c0228946a8bf2bbba5d2fa2b22","is_oa":true,"landing_page_url":"https://doaj.org/article/b736d6c0228946a8bf2bbba5d2fa2b22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11379938","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12572612","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1648737","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1648737","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1648737/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415267369.pdf"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W173408567","https://openalex.org/W1502678715","https://openalex.org/W1908150177","https://openalex.org/W2033005832","https://openalex.org/W2060322584","https://openalex.org/W2077007094","https://openalex.org/W2077244230","https://openalex.org/W2103530214","https://openalex.org/W2111040806","https://openalex.org/W2137045791","https://openalex.org/W2426479609","https://openalex.org/W2573268309","https://openalex.org/W2594575328","https://openalex.org/W2805647790","https://openalex.org/W2806212758","https://openalex.org/W2912529695","https://openalex.org/W2934055000","https://openalex.org/W2963733582","https://openalex.org/W2999372975","https://openalex.org/W3025006235","https://openalex.org/W3034226296","https://openalex.org/W3095030303","https://openalex.org/W3105064013","https://openalex.org/W3136101750","https://openalex.org/W3158605011","https://openalex.org/W3196602375","https://openalex.org/W3206529038","https://openalex.org/W3207199688","https://openalex.org/W4226348160","https://openalex.org/W4233658437","https://openalex.org/W4240018458","https://openalex.org/W4285022345","https://openalex.org/W4319165686","https://openalex.org/W4327857194","https://openalex.org/W4388624604","https://openalex.org/W4391816087","https://openalex.org/W4392858121","https://openalex.org/W4393977765","https://openalex.org/W4403918787","https://openalex.org/W4404238710","https://openalex.org/W4404972102","https://openalex.org/W4408919576","https://openalex.org/W4411231988"],"related_works":[],"abstract_inverted_index":{"Introduction:":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,106,187],"participatory":[5],"design":[6,25,45],"approach":[7],"for":[8],"developing":[9],"assistive":[10],"robots,":[11],"addressing":[12],"the":[13,42,57,60,119,153,171,181,205,209,223],"critical":[14],"gap":[15],"between":[16,44],"designing":[17,85],"robotic":[18,39,120],"applications":[19],"and":[20,41,47,62,87,116,144,164,193],"real-world":[21],"user":[22,128,157],"needs.":[23],"Traditional":[24],"methodologies":[26],"often":[27],"fail":[28],"to":[29,34,173,185],"capture":[30],"authentic":[31],"requirements":[32,227],"due":[33],"users'":[35],"limited":[36],"familiarity":[37],"with":[38,94,123,131],"technologies":[40],"disconnection":[43],"activities":[46],"actual":[48],"deployment":[49],"contexts.":[50],"Methods:":[51],"co-design":[52,168],"through":[53,91,111],"prototyping,":[54],"which":[55,146],"is":[56],"core":[58],"of":[59,118,208,225],"methodology,":[61],"longitudinal":[63],"evaluation.":[64],"We":[65],"implemented":[66],"this":[67],"methodology":[68],"over":[69],"10":[70],"months":[71],"at":[72],"an":[73],"intermediate":[74],"healthcare":[75,80],"centre.":[76],"The":[77,98,109,211],"process":[78],"involved":[79],"staff":[81,192],"in":[82,149],"defining":[83],"functionality,":[84],"interactions,":[86],"refining":[88],"system":[89],"behaviour":[90],"hands-on":[92],"experience":[93],"teleoperated":[95],"prototypes.":[96],"Results:":[97],"resulting":[99],"autonomous":[100],"patrolling":[101],"robot":[102],"operated":[103],"continuously":[104],"across":[105],"two-month":[107],"deployment.":[108],"evaluation":[110,155],"questionnaires":[112],"on":[113,190],"usability,":[114],"usage":[115],"understanding":[117],"system,":[121],"along":[122],"open-ended":[124],"questions":[125],"revealed":[126],"diverse":[127],"adoption":[129],"patterns,":[130],"five":[132],"distinct":[133],"personas":[134],"emerging:":[135],"enthusiastic":[136],"high-adopter,":[137,139],"disillusioned":[138],"unconvinced":[140],"mid-adopter,":[141],"satisfied":[142],"mid-adopter":[143],"non-adopter,":[145],"are":[147],"discussed":[148],"detail.":[150],"Discussion:":[151],"During":[152],"final":[154],"deployment,":[156],"feedback":[158],"still":[159],"identified":[160],"both":[161,191],"new":[162],"needs":[163],"practical":[165],"improvements,":[166],"as":[167],"iterations":[169],"have":[170],"potential":[172],"continue":[174],"indefinitely.":[175],"Moreover,":[176],"despite":[177],"some":[178],"performance":[179],"issues,":[180],"robot's":[182],"presence":[183],"seemed":[184],"generate":[186],"placebo":[188],"effect":[189],"patients,":[194],"while":[195],"it":[196],"appears":[197],"that":[198],"staff's":[199],"behaviours":[200],"were":[201],"also":[202],"influenced":[203],"by":[204],"regular":[206],"observation":[207],"researchers.":[210],"obtained":[212],"results":[213],"prove":[214],"valuable":[215],"insights":[216],"into":[217],"long-term":[218],"human-robot":[219],"interaction":[220],"dynamics,":[221],"highlighting":[222],"importance":[224],"context-based":[226],"gathering.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-17T00:00:00"}