# A New Configuration Method for Glass Substrate Transfer Robot Modules Based on Kansei Engineering
## 5 Discussion
### Summary and Interpretation of Results  
This study's main purpose is to identify and confirm how the appearance factor in industrial robots contributes to users' aesthetic preferences and how this can be matched to the features of industrial robot modules. In this regard, the study has revealed the following results.  
1. According to the study, the shape, color, and material characteristics of industrial robots were the most important factors affecting users' perceptions, which is consistent with the literature ([4,19]). Specifically, we discovered that users frequently used \"hard-soft\" and \"slender-stout\" to describe the robot's shape; \"colorful-gravish\" and \"rich-simple\" to describe the robot's color; and \"smooth-rough\" to describe the robot's material.
2. As seen in Figure 3, seven samples (7/10) are concentrated to the left of the vertical center line in terms of shape features, indicating that users consider the \"compact and slender\" robot shape features to be the most representative of the simple style. This result confirms the literature findings [4], which suggest that \"the robot's design should be more compact, slender, integrated, and lightweight in terms of application and function.\" Moreover, seven samples (7/10) were located below the horizontal midline, suggesting that \"hard\" was an important factor influencing user preference, and the density of distribution (all 10 samples were concentrated around the vertical midline) indicated that \"hard\" was more popular than \"slender\".
3. As shown in Figure 3, nine out of ten samples (9/10) are distributed to the left of the vertical center line in terms of color features, which suggests that robots with simple color schemes are more appealing to users and create a \"simple style\" for robots. This result is supported by the literature [21], which suggests that industrial robots, like industrial machinery, should aim for simplicity in their color schemes. We can explain this phenomenon based on the literature findings [32]: the pastel colors represent a relatively plain robot body, which conveys a sense of stillness. In addition, we suggest that industrial robot theme colors be chosen from a low-stimulus affinity color, despite the fact that Figure 3 does not reveal a significant color preference (10 samples, evenly distributed). This recommendation is based on the literature [4], which states that \"soft and moderate colors for industrial robots can reduce the stress of workers and reduce the occurrence of accidents\".  
Figure 7: Optimal module configuration options.  
As shown in Figure 3, eight samples (8/10) are concentrated in the first quadrant (top right corner) in terms of material features, indicating that users prefer a strong metallic feel and believe that a smooth and delicate surface material feature best reflects the \"simple style\", as evidenced by the design advice provided by industry experts in the preliminary research.
5. Figure 4 reports the mapping relationship between user perceptual demands and robot design features, from which we can summarize the key points of perceptual design for industrial robot modules. The results indicate that, when designing robot modules with simple style features, streamlined drive shafts, lengthwise expanding body structures, integrated body structures, and hidden plugs can be considered shape features; large theme colors and simple color schemes can be used as color features; and smooth surface textures can serve as material features as much as possible.
6. Table 6 reports the relative importance of the five base modules in influencing the aesthetic features, and the results show that the steering axis module (TS) and the lifting axis module (LS) are key influences on the stylistic features of the glass substrate handling robot. The results of this study confirm the literature ([21; 22]), which states that \"the waist and base of an industrial robot are the first areas of observation for the user\" and that these two types of modules should be specifically designed.