Yōkobo is a robject; it was designed using the principle of slow technology and it aims to strengthen the bond between members (e.g., a couple). It greets people at the entrance and mirrors their interactions and the environment around them. It was constructed by applying the notions of a human–robot–human interaction. Created by joint work between designers and engineers, the form factor (semi-abstract) and the behaviours (nonverbal) were iteratively formed from the early stage of the design process. Integrated into the smart home, Yōkobo uses expressive motion as a communication medium. Yōkobo was tested in our office to evaluate its technical robustness and motion perception ahead of future long-term experiments with the target population. The results show that Yōkobo can sustain long-term interaction and serve as a welcoming partner.