  The design and development of robots involve the essential step of selecting
and testing robotic interfaces. This interface selection requires careful
consideration as the robot's physical embodiment influences and adds to the
traditional interfaces' complexities. Our paper presents a decision support
design framework for the a priori selection of robotic interface that was
inductively formulated from our case study of designing a robot to collaborate
with employees with cognitive disabilities. Our framework outlines the
interface requirements according to User, Robot, Tasks and Environment and
facilitates a structured comparison of interfaces against those requirements.
The framework is assessed for its potential applicability and usefulness
through a qualitative study with HRI experts. The framework is appreciated as a
systematic tool that enables documentation and discussion, and identified
issues inform the frameworks' iteration. The themes of ownership of this
process in interdisciplinary teams and its role in iteratively designing
interfaces are discussed.
