Robot_canvas_instructions Robot Canvas Instructions

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Canvases for the Process of Designing Social Robots
Human side

User group

Goal

Create guidelines for your future
robot. How will your problem be
answered by the design?

What is the problem worth solving?
Define it clearly through the user
and the robot.

Safety and ethical considerations

PROBLEM SPACE OF DESIGNING A ROBOT

ETHICAL CONSIDERATIONS OF THE ROBOT

What is the problem worth solving? Define it clearly through the user and the robot.

Six dimensions of ethical considerations are considered already when defining the problem, in order to
embed them into the robot. Both the problem and solution for it are considered, from the human and
robot’s sides.

Design
guidelines

Group(s)

Characteristics

Needs

Name the user group(s).

What characterises the user
group(s)?

What needs do these characteristics
lead to?

Is the robot used in an especially vulnerable task? Is it in a unique data
collection position due to emotional reactions? How to shield the
user from revealing unintended personal information?

human
robot

What is guiding the design of environment, its operation context?
Think about the robot’s operating context. What should guide its
design? If users are especially vulnerable, should it optimize for
support and safety? If the robot is part of a strict process, should it
optimize for efficiency and security?

Form guidelines
What is the thought guiding design of the robot’s form, it’s
outward qualities such as apperance, voice, sounds, movement,
touch and smell? Should the robot be designed to appear
especially approchable, or more industrial? Should is be simple or
complex?

ENVIRONMENT OF THE ROBOT
You can modify the environment from its current state and design it it to fit your solution better. The aim
of this canvas is to figure out what you need to pay attention to, and what you can change.

Where?

What guidelines are relevant for
this dimension? Are there specific
ethical concerns related to this
dimension? What are the robotics
advantages that can be realized in
this dimension? Write them on a
post-it and paste it here, and keep
referring to it as you make
decisions!

short-term

long-term

Equality across users

The robot should share an accurate perception of its abilities, intentions and constraints, so the user can calibrate their trust in the robot.
What problems potentially affect transparency?

Robot’s algorithms can be potentially biased, or its apperance could
reinforce harmful sexist or racist stereotypes. What are potential
issues?

Ethical considerations

problem

Interaction guidelines

Behaviour guidelines

What is guiding the design of interactions? Is the interaction
multimodal or is one modality being optimized for efficiency?
Should the user feel empowered and lead the interaction, or
does the robot provide safety via leadership? Is the goal exploratory or task-oriented?

What is guiding design of the robot’s behaviour? For example,
should it be simple or approaching human-likeness by being
highly sensitive to context? Is it internally or externally driven, or a
combination of the two? Is it socially aware, is it autonomous?

one

a few

Draw a picture

several
machine-like

Name the role

hybrid

Social competence

Are social skills an advantage?

Personalization

Can the robot bring joy through recognizing specific users?

What is the robot’s role as seen to the user? More of an authority or a
friend, and more of a server or a co-operator?

Voice

Sounds

What is the robot’s voice like? Does it have a gender or an age?
What is the prosody like? What is its pitch and speed? Is the
voice always the same?

Does the robot make sounds: music, “beep”s, animal noises, or
other things? When are these sounds heard?

Mobility

Is mobility an advantage?

Environmental manipulation

Is environmental manipulation an advantage?

Sensing

Can the robot use sensors the gain an advantage?

Connectivity to technology

Can the robot be connected to other technologies like humans can’t?

short-term

server

problem

Can the robot do something more precisely than a human?

human
robot

Ethical guidelines

Advantage guidelines

How do the ethical considerations you defined in the ethics
canvas relate to these 4 dimensions? How about outside of the
dimensions?

Think back to the advantages and added value of using a robot,
which you defined in the problem space. How should these be
guided to realization in your solution?

What situation(s) does
interaction take place in?
What is the human doing prior to and after interacting with the
robot? What is the user’s emotional state?

Human facilitators?

long-term

voice

movement

sounds

digital visuals

gestures

tactile

facial expressions
digital sensors
other

Interaction outline

Situation flow

Create an outline of one of the possible interactions with the robot. It can be for example the interaction you consider most important. What
does the robot say? What does the user say? When are other modes of interaction used? When is data fetched?

How rigidly defined is the situation? Does the user always enter and
exit at the same point in space and time, or wanting to perform the
same task? Freestyle situations require more development.

predefined

ROBOT

Interaction modalities

flexible

freestyle

Touch sensations

Smell sensations

In close contact, it is especially imporant how the robot feels. Is it
soft or rough, warm or cold?

How does the robot smell? This is espeically imporant in close
contact.

start of interaction

user

Does the robot generate an emotional response for the user that can’t be achieved with other tech?

Precision

Humans could transfer inappropriate behavior, such as rudeness,
from robots to humans. How to mitigate this?

Test your prototype, ask for expert
and user feedback, and iterate.

What does the robot look like? Is it attached to something? Does
it move around? Can it’s appearance be modified?

friend

solution

Emotional response

Humans have been shown to form emotional attachments to robots
as if they were alive. How can this be taken into consideration?

problem

What is the potential advantage and added value of using a robot in this solution, as opposed to other technologies, or people? Consider long
and short-term advantages. Think about the list below, and color in where you think they’ll be useful. Are there other advantages?

Behaviour enforcement

4. Iterate

What ways do the user and robot interact in?

lifelike

Role of the robot

long-term

Emotional consideration

Data-based behaviour
What external and environmental factors motivate behavior?
What data is collected? What data is used to adapt to context?
Is behaviour personalized?

Movement

co-operator

short-term

Personality
What words describe the robot’s personality? What are the
robot’s internal motivators? Does it have emotional states or
needs? Does it have specific characteristics?

Is the robot’s movement more machine-like or lifelike?

during interaction

Level of facilitation
Is the human facilitation always needed, or only in specific situations?

Does the robot need a human helper to provide value to the
user? Is a human needed for regular maintenance?

Social Robot Design Toolkit free version by Futurice is licensed under a Creative
Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)

none

Social Robot Design Toolkit free version by Futurice is licensed under a Creative
Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)

optional

end of interaction

required

Social Robot Design Toolkit free version by Futurice is licensed under a Creative
Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)

The Problem Canvas

The Ethics Canvas

The Guidelines Canvas

Define who you are building for and why.
What are the advantages? Always use
this canvas first.

How are ethics considered already in the
definition of the problem? Use these six
ethical considerations.

How will the definition of your problem
and the ethics be visible in the final
design? Make guidelines for different
dimensions of the robot.

Social Robot Design Toolkit free version by Futurice is licensed under a Creative
Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)

The Environment Canvas

The Form Canvas

The MVP Canvas

What is the context of the robot’s operation?

What are the robot’s outwardly perceptible qualities?

If you want to prototype rapidly, the “minimum viable product” canvas can act as a
replacement for the four dimensions.

Guidelines

INTERACTION WITH THE ROBOT
The aim of this canvas is to define how the robot interacts with the user, and what guides that interaction.
A rough draft of one of the interactions is also implemented.

Leadership

Goal(s)

Is the robot’s movement more machine-like or lifelike?

robot-led

mutual / alternate

user-led

task completion

mixed

Guidelines

BEHAVIOUR OF THE ROBOT
The aim of this canvas is to find out how the robot should behave. What factors is its behavior based on?
What data is collected to guide the behavior?

Motivation

Contextual adaptation
Does the robot’s behaviour vary according to context, for example
weather, or by person? Is this feature highly developed?

movement

facial expressions

sounds

digital visuals

digital sensors

gestures

tactile

other

mixed

internal

none

partial

extensive

Personality

Data-based behaviour

What are the robot’s internal motivators? Does it have emotional
states or needs? Does it have specific characteristics?

What external and environmental factors motivate behavior?
What data is collected? What data is used to adapt to context?
Is behaviour personalized?

Modalities
voice

How does the robot motivate its behavior? Is it based on external
data, internal models such as personality, or both?

external /
environment based

exploration

What ways do the user and robot interact in?

Interaction outline
Create an outline of one of the possible interactions with the robot. It can be for example the interaction you consider most important. What
does the robot say? What does the user say? When are other modes of interaction used? When is data fetched?
start of interaction

user

robot

4. Iterate! After
user and expert
feedback, redefine your problem
space, guidelines,
and solution.

abstract

Simultaneous users
How many users should the robot be able to interact with at the same
time? Several simultaneous users require more development.

Who is using the robot? Is there only one type of user? Are there
secondary users?

solution

robot

Where? How does the situation flow?
Where is the robot operating? What is this place’s significance to the users? What is special about this place? What time of day? How does
the situation start? How does it end?

What does the robot look like? Is it attached to something? Does
it move around? Can it’s appearance be modified?

animal-shaped

authority

solution

3. Defining the
solution

robot

human

Write your guidelines on post-its,
and place them here! Keep
referring to them as you make
desicions about the robot’s design.

human-shaped

Write down a good description of the robot’s role, for example
“buddy” or “coach”.

Advantage(s)

2. Creating
guidelines

human

solution

1. Defining the
problem

Task(s)
What task(s) is the robot aiming to fulfil for the user?

problem

Use the separate ethics canvas to examine the ethical considerations, which emerge in the boundary between the robot and the user.

It’s time to design your robot! Remember to keep referring back to your guidelines on the robot’s environment, behaviour, form and interaction, as well as ethics and advatnages.

Draw a picture

Appearance
Where does the robot’s appearance fall on this fourfold table?

End-users? Secondary users?

Transparency

lifelike

Behavior

FORM OF THE ROBOT
The aim of this canvas is to define the robot’s outward qualities. If an existing robot is used, is its from
modified somehow? Can the form be modified according to user?

Where is the robot operating? What is this place’s significance to the users? What is special about this place? What time of day?

What goal is the user trying to accomplish with the robot? What
advantage are they gaining by using a robot?

Form

Guidelines

ROBOT DESIGN MVP

Guidelines

machine-like

Goal(s)

Interaction

How can we ensure that the user’s physical safety is not in danger?
Machinery can pinch or crush when operated recklessly.

Guidelines

Environment guidelines

Safety of data

solution

Environment

ROBOT DESIGN GUIDELINES
What are considerations that guide the design of the robot? Relate these back to the definition of your
problem: the user(s), their needs and what goals they have, as well as ethical consideratons, and the
robot’s task.

Physical safety

solution

2.
3. Solution space

USER(S)

problem

Robot side

problem

Task

It’s time to start designing your
robot! The solution is visible in four
dimensions: environment, form,
interaction, and behaviour.

robot

1. Problem space

3. The Solution Space

2. Guidelines

1. The Problem Space

Social awareness

Autonomy

How socially aware is the robot? Is this feature highly developed?

Is the robot operating by itself, or is a human in the loop? Is a human
fully controlling it?

during interaction

none

partial

extensive

none

partial

Social behaviors

Connectivity

Describe the robot’s social behaviors. Is social behaviour
personalized?

Is the robot’connected to other systems? How do these systems
guide its behaviour?

full

end of interaction

Social Robot Design Toolkit free version by Futurice is licensed under a Creative
Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0)

The Interaction Canvas

The Behaviour Canvas

How does the robot interact with users?

What drives the robot’s behaviour?

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Swatch Colorant Cyan            : 0.000000, 0.000000, 0.000000, 0.000000, 100.000000, 100.000000, 100.000000, 0.000000, 15.000000, 0.000000, 0.000000, 0.000000, 0.000000, 5.000000, 20.000000, 50.000000, 75.000000, 85.000000, 90.000000, 75.000000, 80.000000, 70.000000, 85.000000, 100.000000, 100.000000, 75.000000, 50.000000, 35.000000, 10.000000, 0.000000, 25.000000, 40.000000, 50.000000, 55.000000, 25.000000, 30.000000, 35.000000, 40.000000, 40.000000, 50.000000, 51.953125, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 85.000000, 100.000000, 60.000000
Swatch Colorant Magenta         : 0.000000, 0.000000, 100.000000, 0.000000, 0.000000, 0.000000, 100.000000, 100.000000, 100.000000, 90.000000, 80.000000, 50.000000, 35.000000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 30.000000, 0.000000, 10.000000, 15.000000, 50.000000, 95.000000, 100.000000, 100.000000, 100.000000, 100.000000, 100.000000, 95.000000, 25.000000, 45.000000, 50.000000, 60.000000, 40.000000, 50.000000, 60.000000, 65.000000, 70.000000, 70.000000, 43.359375, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 100.000000, 75.000000, 10.000000, 10.000000, 90.000000, 90.000000
Swatch Colorant Yellow          : 0.000000, 0.000000, 100.000000, 100.000000, 100.000000, 0.000000, 0.000000, 0.000000, 90.000000, 85.000000, 95.000000, 100.000000, 85.000000, 90.000000, 100.000000, 100.000000, 100.000000, 100.000000, 95.000000, 75.000000, 45.000000, 0.000000, 0.000000, 5.000000, 25.000000, 0.000000, 0.000000, 35.000000, 50.000000, 20.000000, 40.000000, 50.000000, 60.000000, 65.000000, 65.000000, 75.000000, 80.000000, 90.000000, 100.000000, 80.000000, 43.359375, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 100.000000, 100.000000, 95.000000, 100.000000, 0.000000, 0.003100
Swatch Colorant Black           : 0.000000, 100.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 30.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 25.000000, 0.000000, 0.000000, 10.000000, 0.000000, 0.000000, 0.000000, 5.000000, 25.000000, 40.000000, 0.000000, 10.000000, 25.000000, 35.000000, 50.000000, 70.000000, 7.812500, 100.000000, 89.999400, 79.998800, 69.999700, 59.999100, 50.000000, 39.999400, 29.998800, 19.999700, 9.999100, 4.998800, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.003100
Swatch Colorant Tint            : 100.000000
Producer                        : Adobe PDF library 15.00
Page Count                      : 1
Creator                         : Adobe Illustrator CC 23.0 (Macintosh)

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