User perception of usability aspects in indirect HRI - a chain of translations

This article reports on the results of a user study that investigates the perceived usability of naïve users conducting two navigation tasks with the HOAP-3 robot. In this user study, the robot was controlled via a Graphical User Interface (GUI) that enabled the users to navigate the robot in the physical environment. The main goal of the user study was to gain insights on the question if users assign usability issues mainly to the robot, the GUI, or both. The participants performed two tasks: (1) navigating the robot through a maze to find the exit, (2) navigating the robot through the maze to find an object. The user study was supplemented by the think aloud technique and the SUS questionnaire to investigate usability aspects. Furthermore, task duration and task completion were measured. The results stress that the users rated the overall usability of the navigation rather positive. They identified usability problems for both, the GUI and the robot itself. The participants made more suggestions for improving the interface than for improvement of the robot. A reflection on the think aloud data revealed, however, three underlying principles (“feeling of distance”, “lack of orientation”, and “lack of control” ) for the usability problems that were independent of the assignment to the GUI and the robot.