# Explainable Post-Occupancy Evaluation Using a Humanoid Robot
## 4 Case Study
### Survey Session and Results  
In this section, a detailed description of the interaction between the user and the humanoid robot is presented. It can be considered as a novelty of the proposed approach aiming to establish a dialogue in which the user gives fruitful information to the robot to perform its analysis, and (s)he receives from the robot dedicated explanations about her/his condition and how to improve it when necessary. This is the crucial step in which POE becomes EPOE. In this study, the experimentation was conducted by using a Nao robot. The Nao robot belongs to the class of humanoid robots (see Figure 10), and it is an autonomous and programmable robot developed by the French company Aldebaran Robotics to provide an open and accessible, high-performance robot platform for both researchers and the general public. The Nao robot is endowed with multitude of sensors, motors, and software handled by an ad-hoc operating system. It has several features to demonstrate natural interactions with humans [47]. The most important feature of the Nao robot is the possibility to be personalized utilizing Choreographe [47]. This is a user-friendly programming suite that allows us to control the robot, create behaviors, and access the data acquired by the sensors. It also allows for testing new behaviors on a simulated robot. During the session of the POE survey, the robot recognized the user, and it moved towards her/him. Then, it provided her/him guidelines for placing the external sensors in appropriate locations to take the right measurements. After that, the robot applied the POE questionnaire to the user. Finally, by the analysis of the data obtained from the survey and the sensors, it provided the user with a report of her/his working environment quality, giving some recommendations. The interaction between the robot and the user took about 10 minutes. The whole dialogue between the user and the robot during the monitoring session at 12:30 is reported in Appendix A.  
Figure 9: Representation of simulated (blue lines) and real (red lines) illuminance values versus space and time and the related percent error (dotted lines). During this session, the user placed the illuminance sensor at the point of coordinate \((280,135.5)\). From the survey, the robot acquired different information from the user. The most important information for the analysis was the following:  
* The user perceives a warm working environment. * She prefers feels a bit cooler. * She did not like the illuminance conditions, perceiving a too dark environment. * She prefers a warmer light. * She considers her environment noiseless. In addition, the robot gathered through the sensors the following values of the environmental parameters:  
* Illuminance level of 160 lx. * Sound pressure level of 35 dB. * Temperature of 22 \"C.
* Relative humidity of 43%. Thus, analyzing such data, the robot detected the following situations:  
* Thermal comfort: false negative. The environment conformed to the standard of thermal comfort. The current temperature was in the range of the value recommended by the standard in the winter months. Nevertheless, the user felt warm; she would like to have more manual control of the temperature. * Visual comfort: true negative. The environment did not conform to the standard of visual comfort. The user did not like the illuminance, and she preferred a warmer color temperature. * Acoustic comfort: true positive. Finally, the environment conformed to the standard of acoustic comfort. The occupant perceived a quiet environment. Moreover, as can be noted from the simulated values reported in Figure 7, there were no locations in which the standard values of the illuminance were satisfied. For this reason, the robot did not recommend to move to a better work position. Conversely, when among the simulated values, one or more points compliant with the standard appeared, the robot may suggest that the user vary her work position by exploiting the better natural light in the office.