  Human-robot interaction can be regarded as a flow between users and robots.
Designing good interaction flows takes a lot of effort and needs to be field
tested. Unfortunately, the interaction flow design process is often very
disjointed, with users experiencing prototypes, designers forming those
prototypes, and developers implementing them as independent processes. In this
paper, we present the Interaction Flow Editor (IFE), a new human-robot
interaction prototyping tool that enables everyday users to create and modify
their own interactions, while still providing a full suite of features that is
powerful enough for developers and designers to create complex interactions. We
also discuss the Flow Engine, a flexible and adaptable framework for executing
robot interaction flows authors through the IFE. Finally, we present our case
study results that demonstrates how older adults, aged 70 and above, can design
and iterate interactions in real-time on a robot using the IFE.
