Abstract:
Though attention to evaluating human-robot interfaces has increased in recent years, there are relatively few reports of using evaluation tools during the development of human-robot interaction (HRI) systems to gauge and improve their designs-possibly due to a shortage of suitable evaluation techniques. Heuristic evaluation is a technique suitable for such applications that has become popular in the human-computer interaction (HCI) community. However, it requires usability heuristics applicable to the system environment. This work contributes a set of heuristics appropriate for use with HRI systems, derived from a variety of sources both in and out of the HRI field. Evaluators have successfully used the heuristics on an HRI system, demonstrating their effectiveness against standard measures of heuristic effectiveness.

Keywords: heuristic evaluation, discount evaluation, usability testing, HRI

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