As the elderly population grows rapidly, companion robots have attracted attention as a technological solution for problems faced by the elderly. Although the design elements of companion robots have influenced their usability, there remains a lack of relevant research. Therefore, this paper aims to extend our understanding of the design elements of companion robots preferred by the elderly. We conducted experiments on what types, weight, and materials are preferred for the elderly aged 50–64. Furthermore, we analyzed whether there were statistically significant differences in design preferences according to gender, living arrangement, and age. Consequently, the preference of the female elderly for robots over 2Â kg was observed to be significantly lower. Additionally, elderly people living alone preferred synthetic fur over elderly people living with others. In conclusion, it was found that the specific weight and material of the companion robot affects the preference of elderly people.