This study investigates if preferences for mental capacities in robots vary across different application domains and identifies influential factors, both in individuals’ characteristics and attributes specific to each robot domain. Employing a between-subject design, participants (N=271) completed a survey collecting both quantitative and qualitative data on preferences for 12 mental capacities across six robot types situated in a specific application domain (medicine, defense, household, social, education, customer service). Half of the mental capacities align with each dimension (experience and agency) in the two-dimensional model of mind (Gray et al., 2007; McMurtrie, 2023). Key findings reveal a general preference for high agency ability and low experience ability across all application domains. Exceptions were found in preference for lower agency ability in the cleaning robot and higher experience ability in the companion robot. Qualitative analysis indicates a desire for objective and logical robots functioning without emotions, while demonstrating empathy for human emotions. Additionally, gender and educational background emerged as factors influencing preference for lower experience abilities in robots. While previous research has mainly focused on attribution of mental capacities to technical agents, this study provides insights into human preferences and factors affecting them. These insights can guide responsible and ethics-driven development and design of robot technology within the field of human-robot interaction.