This paper examines how the arts can inspire new applications for socially assistive robots (SARs) to promote mental health. Following a multi-phase research design, we present the results of a pilot study conducted within an existing Arts & Health program with a collaborative drawing robot among an adult population with mild to severe mental illnesses. Three pilot workshops and two intervention studies were conducted with a total of 18 participants. The findings demonstrate how the arts can inform new applications for SARs in community health contexts. The study emphasises the importance of working closely with authentic stakeholders at all levels of the research process to prioritise user insights and experience.