Robotic　devices　are　being　introduced　to　support　active　aging　and　enhance　the　lives　of　older　adults　at　home.　To　effectively　design　and　implement　such　devices,　it　is　crucial　to　investigate　the　user　needs　of　both　older　adults　and　their　family　members.　This　study　aimed　to　investigate　middle-aged　adults　and　older　adults＇　needs　for　home　robotic　devices.　A　total　of　46　participants　took　part　in　interviews　focusing　on　the　appearance,　social　characteristics,　functional　requirements,　and　acceptance　of　home　robotic　devices.　The　results　revealed　that,　in　terms　of　appearance,　middle-aged　adults　showed　a　preference　for　mechanical　robots,　whereas　older　adults　favored　humanoid　robots.　Both　middle-aged　and　older　adults　liked　female　robots　in　terms　of　social　characteristics.　In　terms　of　functional　needs,　both　middle-aged　and　older　adults　considered　life　management　functions　as　the　most　important.　However,　older　adults　placed　less　importance　on　entertainment　functions,　while　middle-aged　adults　perceived　emotional　communication　as　less　essential.　In　terms　of　the　factors　influencing　acceptance,　the　critical　factors　that　influence　older　adults＇　acceptance　were　economic　factors　and　psychological　factors.　The　critical　factors　influencing　middle-aged　adults＇　acceptance　were　economic　factors,　technological　maturity,　functional　perfection,　and　other　technical　characteristics.　These　findings　have　implications　for　the　design　and　implementation　of　home　robotic　devices.