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Robots have been proposed as intelligent technology that can support the independent living and health of older adults. While significant advances are being made regarding hardware and intelligent software to support autonomous actions of robots, less emphasis has been put on designing robot behavior that is comprehensible and pleasant for older adults. However, good usability and user experience are crucial factors for acceptance and long-term use. One way to actively engage older adults in behavioral design for social robots is participatory design. The Modality Card Deck is proposed, a tool that helps to engage older adults in human-robot interaction design process and participate in design decision for robot behavior. The cards guide the users towards creating ideas for design solutions which are detailed enough to be implemented by interaction designers and software developers. This paper provides a detailed description of the Modality Card Deck and presents an evaluation of the tool in the scope of a case study. In the case study, the card deck was used in participatory design workshops with older adults to develop multi-modal robot behaviors for the Pepper robot and a quiz game application. After describing the procedure of the case study, the workshop results and learnings about working with the Modality Card Deck and older adults are presented.

The Modality Card Deck: Co-Creating Multi-Modal Behavioral Expressions for Social Robots with Older Adults