Table 1.

Dimensions of human flourishing following ryff and singer

Dimensions of human flourishing	Illustrations of content included (how socially assistive robots contributed to)
Self-acceptance: This dimension of flourishing consists in a long-term self-assessment involving a certain level of self-awareness, with the intention of accepting one's own strengths and weaknesses, beyond mere self-esteem. Maintaining a positive attitude towards oneself is a central characteristic of personal maturity and optimal psychological functioning	Acceptance of health condition Patient’s confidence
Positive relations with others: This dimension is related to the capacity for affection, empathy, friendship, and love towards other human beings. These abilities are indicative of good psychological health. Theories about the stages of adult psychosocial development also emphasize the achievement of unions with others (intimacy) and the concern for contribution to society (generativity)	Improving communication and social engagement Companionship and reduction of loneliness Building community between patients, care givers and families
Personal growth: This dimension is the closest to the meaning of Aristotle's Eudaimonia since it explicitly includes the idea of individual self-realization. Personal growth is a continuous process of developing one’s own potential as a human being. Openness to experience, for example, is characteristic of a flourishing person	Emotional intelligence Enhancing mood Reducing medication dosage
Purpose in life: This dimension refers to having goals, intentions, and a sense of direction in one’s own life. Mental health is defined as comprising healthy beliefs that there is a purpose and a meaning to life. Theories of development refer to a variety of changing goals, associated, for example, with productivity and creativity or the achievement of some emotional integration	Sense of belonging Having something to take care of/look for Sense of responsibility Meaningful pursuits
Environmental mastery: This dimension is defined by the management of complex environments through mental or physical activities, in other words, having the ability to act. An individual’s ability to choose or create environments suited to one’s mental conditions is a characteristic of mental health. Maturity also requires participation in a sphere of activity outside oneself. Successful aging is associated with an individual's ability to seize the opportunities of their environment	Safety (risk prevention, emergency assistance, avoid danger) Comfort Adaptation to environment
Autonomy: This dimension revolves around the notions of independence, self-determination, and behavior regulation. A flourishing person is described as having an internal locus of assessment, against which they assess themselves according to personal standards, and do not turn solely to others for approval	Helping with daily activities and schedule Serving as a mobility aid Increasing independence Upholding patient’s choices and rights

Table adapted from Lanteigne et al. [17]