ARTICLE Axelsson_THRI_2022/IDIAP Social Robot Co-Design Canvases: A Participatory Design Framework Axelsson, Minja Oliveira, Raquel Racca, Mattia Kyrki, V. EXTERNAL http://publications.idiap.ch/attachments/papers/2021/Axelsson_THRI_2022.pdf PUBLIC ACM Transactions on Human-Robot Interaction 11 1 2022 https://dl.acm.org/doi/10.1145/3472225 URL https://doi.org/10.1145/3472225 doi