A number of techniques, grouped under the umbrella term of usability inspection, have been devised in recent years to help software developers focus more closely on the needs of end-users during the development of interactive applications. Central to the use of such methods is the question of how proposed designs can be tested before a complete system has been implemented. This paper discusses the role of high and low-fidelity prototypes used for this purpose in software development and proposes the use of a “variable-fidelity” prototype as an aid to the development of interactive robotic systems. The approach is outlined and illustrated through the example application of an Interactive Robotic Visual Inspection System (IRVIS) developed for use by a person with limited physical manipulation skills.