  Despite the growth of physically assistive robotics (PAR) research over the
last decade, nearly half of PAR user studies do not involve participants with
the target disabilities. There are several reasons for this -- recruitment
challenges, small sample sizes, and transportation logistics -- all influenced
by systemic barriers that people with disabilities face. However, it is
well-established that working with end-users results in technology that better
addresses their needs and integrates with their lived circumstances. In this
paper, we reflect on multiple approaches we have taken to working with people
with motor impairments across the design, development, and evaluation of three
PAR projects: (a) assistive feeding with a robot arm; (b) assistive
teleoperation with a mobile manipulator; and (c) shared control with a robot
arm. We discuss these approaches to working with users along three dimensions
-- individual vs. community-level insight, logistic burden on end-users vs.
researchers, and benefit to researchers vs. community -- and share
recommendations for how other PAR researchers can incorporate users into their
work.
