Many people face accessibility barriers when interacting with robots, mainly people who do not usually interact with new technologies, elderly people and users with disabilities. Current laws, standards and guidelines protect the right of the users interacting with computers, however, they are not specific for human-robot interaction and they have not considered the special characteristics of robots. This paper is focused on the accessibility requirements of tactile displays integrated into

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... ice robots. An extensive study and comparison of the main accessibility guidelines, standards and recommendations is conducted. Moreover, a first draft of guideline for tactile displays in HRI is proposed.