## 3 Results and Discussion
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Reference** & **Sample** & **Research** & **Methods and** & **Barrier(s) to the UX** & **Outcomes** \\ \hline \multirow{4}{*}{[38]} & 75 members of The & \multirow{4}{*}{Quantitative} & \multirow{4}{*}{Wehropod survey platform; online questionnaire} & The most significant & \multirow{4}{*}{The most significant} & \multirow{4}{*}{\begin{tabular}{c} development needs were about new \\ ways of allocating work between \\ human workers and cobots, and \\ safety technology. \\ \end{tabular} } \\  & 75 members of The & \multirow{4}{*}{Quantitative} & \multirow{4}{*}{\begin{tabular}{c} Webproof survey platform; \\ online questionnaire \\ \end{tabular} } & The most significant & \multirow{4}{*}{\begin{tabular}{c} development needs were about new \\ ways of allocating work between \\ human workers and cobots, and \\ safety technology. \\ \end{tabular} } \\  & & & & & \\ \hline \multirow{4}{*}{[39]} & 80 students & Qualitative & Content analysis & - & \begin{tabular}{c} The benefits identified across all \\ conditions were combined into the \\ categories of efficiency, assistance, \\ and relationship. \\ \end{tabular} \\  & 22 millenials & Mixed method & \begin{tabular}{c} Observations; semi-structured \\ interviews, short version of \\ User Experience Questionnaire \\ \end{tabular} & - & Four user experience goals were identified, namely fellowship and & \multirow{4}{*}{\begin{tabular}{c} Four user experience goals were \\ compatible, inspiration, safety and \\ trust, and accomplishment. \\ \end{tabular} } \\ \hline \multirow{4}{*}{[42]} & 140 participants & Qualitative & \multirow{4}{*}{Qualitative} & \multirow{4}{*}{\begin{tabular}{c} Hands-on \\ demonstration; questionnaires \\ \end{tabular} } & The main barriers & \multirow{4}{*}{\begin{tabular}{c} identified included safety, \\ and lack of knowledge. \\ Some features expected in \\ a cobot were a universal \\ programming language, \\ programming by \\ demonstration, \\ modularity, and \\ safety features. \\ \end{tabular} } \\  & 10 employees at & Mixed method & \begin{tabular}{c} Pick-and-place \\ qualification task; \\ Likert-scale questionnaires \\ \end{tabular} & - & The developed system ensured & \multirow{4}{*}{\
\begin{tabular}{c} The themselves that emerged from \\ the analysis can be grouped into \\ two key implications for the design \\ of cobots, namely the importance \\ of socially and the need to \\ support relationships with \\ several stakeholders. \\ \end{tabular} } \\  & 72 students & Mixed method &
\begin{tabular}{c} Questionnaires: \\ semi-structured interviews \\ \end{tabular} & - & The principles of appeal, \\  & & & & secondary action, and acting had a \\  & & & & significant positive effect on most \\  & & & & outcomes, improving robot \\  & & & & perceptions and user experience. \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Summary of the studies reviewed. intended to get to know which were the UX goals present in the work published since 2010 that could contribute to an enhanced design of industrial cobots. Table 3 shows how we proceeded to analyze and synthesize the data extracted from the seven selected studies, through its categorization. _Safety_ was mentioned by [PERSON] and [PERSON] [38] when they considered safety technologies, design methods for safety and hygiene requirements as needs for the development of cobots, contributing to their acceptance by the users and consequent successful deployment in industry. [PERSON] et al. [39] identified assistance as a positive aspect, which can be considered under the safety category when the robotic device assists the human in the least safe tasks, their collaboration benefiting aspects such as work efficiency and alleviation of working conditions. [PERSON] et al. [37] highlighted the importance of the feature of comfort, in the sense of feeling safe, for the implementation of a paradigm with both efficiency and ergonomy at its core. [PERSON] et al. [16] considered the UX goal of safety and trust, as well as [PERSON] et al.