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Robots that cooperate with humans must be effective at communicating withthem. However, people have varied preferences for communication based on manycontextual factors, such as culture, environment, and past experience. Tocommunicate effectively, robots must take those factors into consideration. Inthis work, we present the Robot Signal Design (RoSiD) tool to empower people toeasily self-specify communicative preferences for collaborative robots. We showthrough a participatory design study that the RoSiD tool enables users tocreate signals that align with their communicative preferences, and weilluminate how this tool can be further improved.

The RoSiD Tool: Empowering Users to Design Multimodal Signals for Human-Robot Collaboration