Wearable robotic appendages have long been envisioned in sci-fi media as integral parts of our future daily lives. However, to this day, much of the research emphasize industrial contexts and technical advancements of robotics without emphasis on daily life contexts. Therefore, our project bridges this gap by focusing on exploring novel interaction domains and formfactors for wearable robotic appendages within our daily lives. We present an overview of our research progress, and highlight the main challenges to realize wearable robotic appendages within daily life contexts.