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High levels of robot autonomy are a common goal, but there is a significantrisk that the greater the autonomy of the robot the lesser the autonomy of thehuman working with the robot. For vulnerable populations like older adults whoalready have a diminished level of autonomy, this is an even greater concern.We propose that human autonomy needs to be at the center of the design forsocially assistive robots. Towards this goal, we define autonomy and thenprovide architectural requirements for social robots to support the user'sautonomy. As an example of a design effort, we describe some of the features ofour Assist architecture.

Human Autonomy as a Design Principle for Socially Assistive Robots