a. Prototype

For evaluation, we developed two prototypes of the robot:

1. Control Situation: The robot narrates a story based on past experiences without interactive storytelling. There is no scope for conversation with the patient, or between the patients and the caregivers. There is background music and it also performs gestures.

These are the robot characteristics in the control situation:

• Patient/Caretaker chooses a story
• Robot narrates the story as the patient has their meal
• There are no interruptions to the flow of the story narration
• The patient is only a passive listener
• Patient listens to the story and might reminiscence on their own
   

2. Experimental Situation: The robot narrates the same story, but this time interacts with the patient with prompts, which requires the patient to answer basic questions, like "How are you doing today?" or "Do you like going on picnics with your family?". It will also promote interaction and activities with the caregivers. For example, the robot can prompt "I know you and Sam went on a cruise! Must have been lovely, right?". Here, bringing caregivers in, provides an opportunity for interaction with them. Once the interaction is completed, a pat on Pepper's head will prompt him to continue the story.

These are the robot characteristics in the experimental situation:

• Patient/Caretaker chooses a story
• Robot narrates story as the patient has their meal
• It breaks its flow of narration to ask questions in between 
• Questions designed to prompt conversations between patient and family member(s)
• Patient is actively engaged in the narration and gets to reminiscence with their family member as they talk