Domestic IoT appliances like smart speakers, smart locks and robot vacuum cleaners are usually connected, monitored and controlled via smartphone apps. Despite the rich number of sensors and actuators available in smartphones, these apps primarily provide graphical user interfaces with these appliances. To explore a more somatically engaging experience the prototype JoyTilt was designed. It is a tilt-based remote control for robotic vacuum cleaners that was developed and tested with users. JoyTilt enabled participants to have their gaze focused on the robotic vacuum cleaner while controlling it. Interviews with the participants provide suggestions for balancing control of robot vacuum cleaners while keeping the robot's autonomy. In this study the somaesthetics, the interactive materials and choice of interaction model come together in the design to shape the human-robot relationship. Lastly, the study highlights the values of further considering the bodily experience when designing apps.