<p>Participatory Design (PD) methods help elicit the perspectives, concerns, and desires of users and stakeholders, generating innovative ideas for intelligent aids. We explore how end-user engagement can shape a structured and theoretically grounded framework for socially assistive robots (SARs). We mapped perceptions and analyzed the needs of older users by integrating new tools and experiences to enable them to express themselves as part of the PD process. Extending upon existing PD frameworks, we introduce a design space model that systematically links functional, behavioral, and visual factors with elicited emotions, forming a conceptual bridge between user insights and robot design decisions. The study comprises three steps. Through interviews with older adults, caregivers, and relatives, we gained insights into their daily routines, habits, and aspirations. We identified their needs and concerns, which we then transformed into design requirements and further discussed in focus groups. Based on the functional, behavioral, and visual design factors identified during these two phases, we developed experimental human–robot tasks using a commercially available robot. The tasks enable the assessment of one-on-one interactions with SAR technology. Participants’ feedback throughout the study led to the creation of the design space model, which illustrates unique connections between various factors and user emotions. This process is necessary for refining requirements and enhancing the effectiveness of robotic designs. Moreover, it is malleable for new robotic applications, allowing for exploration of different stakeholder perspectives and cultural nuances while ensuring broad applicability across diverse user groups.</p>