Conventional co-design methods, such as storyboarding and focus groups, are not always appropriate for people living with dementia (PLwD). In pilot robot co-design workshops in a local memory care facility, we noticed PLwD struggled to understand, express themselves, fully participate, and benefit from the experience. After reflecting on challenges with the facility’s director of program development and education, we redesigned the workshops prioritizing elements of the Eden Alternative’s well-being for PLwD: identity, connectedness, security, and autonomy. We delivered these new workshops over five weeks with 12 PLwD participants. Analysis of resulting video recordings and transcripts shows the new activities allowed participants to see themselves as having knowledge relevant to social robot design; to relate to each other, the robot, and the researchers; to feel comfortable; and to actively contribute to and offer valuable insights for robot design. Participants reported feeling meaning, growth, and joy during the workshops.