Background: The ageing of the population represents a significant challenge, however, it is also a huge potential driver for innovation. Technology development capabilities are rapidly increasing, which enables new, innovative solutions when considering the ageing population. Objective: To promote the successful development and implementation of new technologies (in this case, smart furniture), positive user feedback and experiences are required. Methods: In this study, several modular smart furniture prototypes were developed, offering a potential solution to several challenges associated with ageing. The aim was to investigate which features positively affect user experience and consequently form the basis for smart, ageing-friendly furniture design guidelines. The smart furniture systems consisted of five prototypes: Fall Detection system with assistive Mobile Robot, ReAbleChair, Magic Mirror, Smart Gaming Chair, and 3D printed handles. These prototypes were presented to seniors in a home-like environment, after which participants completed a questionnaire and were interviewed. The themes used in the semi-structured interview followed the structure of Jesse Garrett’s user experience framework. Results: The most essential feature was found to be modularity, or the ability to customize solutions according to the end user’s capabilities and needs. In addition, results highlight that smart furniture should be aesthetically pleasing whilst still serving its primary purpose (i.e. as an item of furniture). Administrative components of the software should be removed from the end user’s User Interface (UI) and integrated in a separate UI, to simplify the end user’s interaction with the technology. Installation and customization services, as well as value-adding services (i.e. monitoring) were seen to offer potential. Conclusions: In general, the user experiences were positive. Smart features were readily accepted as part of the furniture prototypes, with hidden technologies offering the opportunity to design functional furniture to assist the older adults. In particular, smart furniture offers the potential to foster independent and high-quality living, without the stigma often associated with senior-targeted assistive devices. In addition to proving feedback on the smart furniture prototypes, the information gathered provided an excellent foundation for future smart furniture guideline development.