DOI: 10.5281/zenodo.12083612
title: Usability data (Drapebot Robot Cell/DLR)

description: 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 DLR work cell one task repetition consisted of the robot retrieving a 30x30 cm cut piece from a table and placing it on the mould, holding it at the seeding point. The participant would then approach the robot from the safe zone and drape the cut piece on the mould, deforming it. When the participant had finished the draping, they retreated to the safe zone and signaled to proceed to the next repetition, and the robot retrieved the next cut piece. With 10 repetitions each piece was positioned and draped at different positions along the mould, starting at one end and evenly spread along the length of the mould.

In the first session participants did the draping task ten times and signaled the robot by pressing a button mounted to their hip (NoNUI condition). In the second and third session they signaled the robot five times using one of two NUI in counter-balanced order (voice condition and gesture condition).

The usability questionnaires, SUS and UMUX were administered after each session, the trust questionnaires only after the NoNUI condition. 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, Voice, 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, , Voice, 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)

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)

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.