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They are considered a promising technology to add value to the work of caregivers, and relieve them of simple and repetitive tasks. However, these robots currently face significant difficulties when deployed in everyday scenarios due to a number of factors. Most of these factors are related to insufficient consideration of the user perspective and incorrect evaluation procedures. This paper aims to address these issues. Its objective is to analyze the long-term accessibility, usability, social acceptance and user experience for two different socially assistive robots performing the same tasks in a retirement home. The evaluation procedure is based on a framework specifically designed to consider these criteria. Collected results show that both robots received an overall positive feedback. 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People working at Blue Ocean Robotics or MetraLabs GmbH might also know about the work. The authors declare no further Conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"The study was conducted according to the guidelines of the Declaration of Helsinki, and approved by the Provincial Ethical Committee of the Andalusian Public Healthcare system (Comit\u00e9 de \u00c9tica de la Investigaci\u00f3n Provincial de M\u00e1laga, session hold on 24\/09\/2020).","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"Informed consent was obtained from all subjects involved in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Infomed Consent"}}]}}