Self Cleaning Litter Box?

[Atlas]

I don't have much of an idea, just a caution. The top open litter boxes are ok for smaller/younger cats. But I've heard they can be bad on the joints. Jumping up from a loose footing like litter can be hard on them, as well as the idea of jumping down into it and landing in poop. Additionally, the self cleaning boxes are pretty small litter boxes when you take all the electronic stuff into account. I hope you come up with a solution.