  Dog guides are favored by blind and low-vision (BLV) individuals for their
ability to enhance independence and confidence by reducing safety concerns and
increasing navigation efficiency compared to traditional mobility aids.
However, only a relatively small proportion of BLV individuals work with dog
guides due to their limited availability and associated maintenance
responsibilities. There is considerable recent interest in addressing this
challenge by developing legged guide dog robots. This study was designed to
determine critical aspects of the handler-guide dog interaction and better
understand handler needs to inform guide dog robot development. We conducted
semi-structured interviews and observation sessions with 23 dog guide handlers
and 5 trainers. Thematic analysis revealed critical limitations in guide dog
work, desired personalization in handler-guide dog interaction, and important
perspectives on future guide dog robots. Grounded on these findings, we discuss
pivotal design insights for guide dog robots aimed for adoption within the BLV
community.
