Claims

Positive and Negative effects for each stakeholder:

PwD:

+ The user is prevented from getting lost. He/ She won't get in a dangerous situation outdoor.
+ Brings PwD back to reality
+ Better mood after talking to the robot

- getting angry when the robot not letting him/ her pass.
- get annoyed by the robot

To overcome the negatives effects, the robot alerts the caretaker and the user is allowed to go outside as long as he/she has some company (OB03)

for caretaker:

+ Spends less time watching the door and checking if everybody is still there. Therefore the caretaker has more time and is more relaxed to focus on the individual PwD.
+ Less time is needed for convincing PwD to stay inside because the caretaker will only be notified in severe cases. 

for the family member:

+ No longer have to worry their loved one is lost.
+ Spend no more time searching for their loved ones.

From these aspects follow the claims:

+ CL01: The PwD does not leave the care home without the caretaker
+ CL02: PwD's mood is improved
+ CL03: The robot is able to understand and interact according to the PwD's intention
+ CL04: The music fits the intended situation or place
+ CL05: PwD leaves care home with a caretaker
+ CL06: The robot suggests activities to distract people from wandering/leaving the building

+ CL07: Bring PwD back to reality
- CL08: PwD feels he/she is losing their freedom
  In order to make the user feel like they still have some freedom, they are not completely stopped from leaving the building. The user is allowed to go out, but with some supervision, to ensure that they are still safe. In addition, when Pepper tries to stop the PwD from leaving, it does not actively block the PwD's path, but rather tries to convince them to stay inside. The PwD still has the choice of not listening to Pepper and making an escape.
- CL09: The PwD feels dependent on others
  The PwD can feel dependent since he/she is not allowed to go out for a walk by him-/herself. However, this is only to ensure their safety and the concern of their family and loved ones. However, to make them feel independent, we provide them with some tasks that can be done independently such as going to the living room, or solving a puzzle. These are activities that can be done on their own and thus make them feel somewhat independent.