Emotion-led modelling for people-oriented requirements engineering: The case study of emergency systems

•We describe how to integrate the emotional goals of people into requirements models.•We compare our approach against the well-known i* modelling language using a user survey, demonstrating a preference for our simpler models.•We evaluate our approach in the domain of emergency alarm systems for older people.•Our evaluation highlighted several shortcomings of existing emergency alarm systems.•We prototyped and trialled an improved emergency system in the homes of nine older people, demonstrating an improved user experience over existing systems.