f. Effects

E1.1 Autonomy; the design will make people with dementia more independent, as they will be able to go on a walk whenever they want. They will not be waiting for the caregivers or family members to take them.

E1.2 Health; the design will be beneficial for the health of PwD as it will motivate them to move more often and go outside. Physical exercise and movement stimulate the physical and mental health

E1.3 Social contact; the robot will be a social company to the PwD, hence they will not feel lonely when they go on a walk. The robot will have a conversation with them optimally about that person's interests.

E1.4 Fulfillment; they will be able to go outside on their own without having to wait for someone else and taking his/her time. They will feel less of a burden and more free. This hopefully gives them a sense of their "normal", "old", life they are used to continuing.

E1.5 Time management; the design has also a positive effect on the caregivers and the family member, as it gives them more free time for other tasks and family members.

E1.6 Increase in motivation to be active; the robot checks whether the PwD has enough activity over time and then starts motivating the PwD to go on a walk. Taking more walks will increase the amount of activity for the PwD

E1.7 Safety; the travel in the garden is safe using the humanoid robot

E2.1 Ignoring or misunderstanding the prompts; PwD ignoring the prompts of the robot. This is always a possibility that the prompts or things that the robot says to PwD go ignored, for example, directions of where to go could go ignored. In these cases, we have to consider what exactly would be done in these instances. Also the prompt might be confusing or be misunderstood due to the dementia.

E2.2 Prompts are perceived as annoying; this could happen in settings when the patient is asked too many times if they know where they are going, if prompts are improperly timed or if the patient is reminded too often about something. Therefore it is worth considering when exactly prompts should be deployed and whether or not direction prompts are needed if the PwD is following the correct path already. 

E2.3 PwD feels forced; monitoring the activity of the PwD and trying to motivate the PwD many times might make the PwD feel that he/she is being forced to go on the activity. The person might think that he/she cannot say no.

E2.4 Potential hardware issues; we need to consider problems that might make our system act wrongfully because sensors or other hardware components don't work the way they should. For example, because of weather conditions, the microphone not taking up speech properly because of noise, or a particular way in which PwD could potentially talk. 

E2.5 Battery has a certain lifespan; the battery lifespan of the Pepper robot is 12h which is more than enough for a walk, but it is important to consider and plan so that this does not under any circumstances run out during the walk. 

E2.6 Privacy issues; it is important to consider how much should actually be monitored during the walks or how much information the robot needs to have access to since allowing for residents' privacy is also important. 

E2.7 Physical abilities of the PwD; the PwD might get really tired of the walk and this can result in negative feelings.

E2.8 Negative experiences; it might be possible that something goes wrong during the walk and a caregiver then needs to intervene. These problems might result in a negative experience and the PwD less willing to go on a walk again the next time.