Joy for All was created using the same basic framework and design as LuLu, but is a different robot. LuLu, which was created as a toy for kids, is very noisy/repetitive and has very coarse fur. Joy for All was introduced years later as an affordable therapy robot and has a wider range of interactive responses, more realistic purrs that you can feel when petting it, much softer fur and a mute option.
I posted a full comparison on YouTube a little while back if you’re interested in the details of it!