Usability data (Drapebot Robot Cell/Profactor)

In the Drapebot project, a worker collaborates with a large industrial manipulator in two tasks: collaborative transport of carbon fibre patches and collaborative draping.

Data collection

At the Profactor work cell the draping task was simulated with reusable cut pieces. The participant would occupy a safe zone outside the reach of the robot, when the robot was in motion. One task repetition consisted of the robot retrieving a large and narrow cut piece from a table and placing it on the mould, holding it at the seeding point. The participant would then approach the robot and perform the draping motions after which they retreated to the safe area of the HRC cell and signaled to proceed to the next repetition.

At this test site each participant performed the task repeatably in two sessions where we compared two methods of signaling the robot. In the first session they repeated the task ten times, communicating to the robot to retrieve the next cut piece by stepping on a pedal in the safe area of the work cell (NoNUI condition). In the second session the participants performed five task repetitions, signaling the robot using a gesture input by reaching up towards the robot (Gesture condition).

The usability questionnaires, SUS and UMUX, as well as trust questionnaires were administered after each session, after both gesture and non-NUI conditions. The NASA TLX and UTAUT were only administered once after both sessions were concluded.

Data organization

The data consists of an Excel file with six sheets:

1. SUS: Results from Standard Usability Scale (Brooke et al. 1996)

Column 1: Test site

Column 2: participant ID

Column 3: User interface type (NoNUI, Gesture)

Column 4-13: SUS items

Column 14: SUS score between 1-100

2. UMUX: Results from Usability Metric for User Experience (Finstad 2010)

Column 1: Test site

Column 2: participant ID

Column 3: User interface type (NoNUI, Gesture)

Column 4-7: UMUX items

Column 8: UMUX score between 1-100

3. Trust: Results from Trust perception scale - HRI (Schaefer 2016)

Column 1: Test site

Column 2: participant ID

Column 3: User interface type (NoNUI, Gesture)

Column 4-17: Questionnaire items

Column 8: Trust score between 1-100

4. Trust: Results from Trust in industrial human robot collaboration (Charalambous, et.al. 2016)

Column 1: Test site

Column 2: participant ID

Column 3: User interface type (NoNUI, Gesture)

Column 4-13: Questionnaire items

Column 8: Trust score between 1-100

5. NASA TLX: Results from Task Load Index (Hart 1986)

Column 1: Test site

Column 2: participant ID

Column 3-20: Questionnaire items

Column 21: TLX score between 1-100

6. UTAUT: Results from Unified Theory of Acceptance and Use of Technology (Venkatesh et al. 2003)

Column 1: Test site

Column 2: participant ID

Column 3-33: Questionnaire items

Column 34-41: Subcategory scores from 1-100

References:

J. Brooke et al., “Sus-a quick and dirty usability scale,” Usability evaluation in industry, vol. 189, no. 194, pp. 4–7, 1996

G. Charalambous, S. Fletcher, and P. Webb, “The development of a scale to evaluate trust in industrial human-robot collaboration,” International Journal of Social Robotics, vol. 8, pp. 193–209, 2016.

S. G. Hart, “Nasa task load index (tlx),” 1986.

K. Finstad, “The usability metric for user experience,” Interacting with computers, vol. 22, no. 5, pp. 323–327, 2010

K. E. Schaefer, Measuring Trust in Human Robot Interactions: Development of the “Trust Perception Scale-HRI”. Boston, MA: Springer US, 2016, pp. 191–218.

V. Venkatesh, M. G. Morris, G. B. Davis, and F. D. Davis, “User acceptance of information technology: Toward a unified view,” MIS quarterly, pp. 425–478, 2003.