  We introduce a taxonomy of important factors to consider when designing
interactions with an assistive robot in a senior living facility. These factors
are derived from our reflection on two field studies and are grouped into the
following high-level categories: primary user (residents), care partners,
robot, facility and external circumstances. We outline how multiple factors in
these categories impact different aspects of personalization, such as adjusting
interactions based on the unique needs of a resident or modifying alerts about
the robot's status for different care partners. This preliminary taxonomy
serves as a framework for considering how to deploy personalized assistive
robots in the complex caregiving ecosystem.
