Correctness and robustness of software are vital, especially in high-consequence domains like engineering, finance, and healthcare. Static type checking helps to assert program correctness but presents challenges, such as a steep learning curve to understand and resolve the reported type errors. We propose methods to help programmers interactively explore and debug type errors. We introduce several novel techniques embodied in working software tools, developed and evaluated using human-centered design methods. ChameleonIDE and Goanna are type debugging systems focused on interactive visualization and recommending solutions, respectively. GeckoGraph, a graphical notation for polymorphic types, supports understanding complex function types.