This paper aims to illustrate how robotic artefacts and applications may be described from a perspective of human action and experience. This is done by presenting an interaction model based on four ways that interactive artefacts may work as resources for human action. In contrast to data-centric models, this model includes socially and contextually oriented actions performed around the artefact, as well as actions related to the computational system running on the machine. A goal with the framework is to provide a concrete reference for designers, focusing on the experiential dimensions of the products that they develop.
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