A new class of requirements is of growing importance for many AI and autonomous systems. In applications ranging from assistive care to emergency management, software for autonomous systems (often using AI components) need to make decisions that are expected to comply with requirements that reflect the social, legal, ethical, empathetic and cultural (SLEEC) norms of its users. For example, the control software of an assistive-care robot should consider its users’ well-being and autonomy needs. In this tutorial, we will present a tool-supported methodology for the elicitation, formalisation, well-formedness validation, and compliance verification of SLEEC requirements, and show its application to an assistive-care robot.