# Implementing Ethical, Legal, and Societal Considerations in Wearable Robot Design
## 1 Introduction
### ELSI Design Tools That Focus on Process  
The integration of ELSI into the technology development process calls for attention to where in the process of development these aspects should be taken into account. There is generally agreement that ELSI need to inform technology development from the earliest point at which goals and values underpinning the technology are being defined, through the process of identifying and selecting desired functionalities and features, to the implementation of the technology in practice settings [24; 25; 26; 27]. Procedural aspects are core features of VSD, a technology development methodology that aims to integrate value consideration as an integral part. It is based on the idea of embedded values [28], the assumption that value concerns become inevitably embedded in technologies through design decisions. [PERSON], [PERSON] and [PERSON] [29] present VSD as an iterative process with an initial analysis of value considerations for a new technology that is revisited periodically in light of new knowledge about stakeholder views and the specific demands of the technical implementation. VSD has inspired other approaches focused on the deep and early integration of values into the technology development process, such as privacy by design [30], ethics by design [31], or, specifically for the field of care robots, care-centred value-sensitive design [19]. RRI is an approach to socially responsible innovation within the framework of research funded by the European Commission that covers a wide range of design tools and considerations meant to bring together innovators and societal stakeholders. According to [PERSON] [26], RRI is \"a transparent, interactive process by which societal actors and innovators become mutually responsive to each other with a view on the (ethical) acceptability, sustainability and societal desirability of the innovation process and its marketable products (to allow a proper embedding of scientific and technological advances in our society)\" (p. 9). For example, the AREA/4P Framework for the responsible development of ICT technologies, developed as part of the ORBIT project [32] helps technology developers through a structured reflection process by identifying issues relating to each of the four procedural categories of anticipation, reflection, engagement and action (AREA), and specifying for each of these categories the four aspects of process, product, purpose and people (4P). The AREA/P4 Framework provides questions to help technology developers adapt and integrate ELSI considerations for their specific technology domain. Other RRI projects, such as RRI Tools [33], provide generic reflection tools that help developers elicit relevant considerations, for instance by focusing on the importance of diversity and inclusion of stakeholders, anticipation of impacts and reflection on implicit values, openness and transparency for public scrutiny, and responsiveness to changing circumstances or emerging knowledge. Universal design is a design approach that is specifically focused on the inclusiveness of technologies for diverse users. It requires (i) equitable use for persons with diverse abilities, (ii) flexibility in use, accommodating different user preferences, (iii) simplicity and intuitiveness of use, (iv) easily perceptible essential information, (v) tolerance for error, (vi) low physical effort for device use, and (vii) facilitating easy use through providing appropriate size and space for users. Universal design is generally closely associated with the disability rights perspective which, as a procedural requirement, demands consultation with stakeholders, following the principle of \"nothing about us without us\".