A Systematic Literature Review of User Experience Evaluation Scales for Human-Robot Collaboration

Elisa Prati*, Simone Borsci, Margherita Peruzzini, Marcello Pellicciari

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

1 Citation (Scopus)
99 Downloads (Pure)


In the last decade, the field of Human-Robot Collaboration (HRC) has received much attention from both research institutions and industries. Robot technologies are in fact deployed in many different areas (e.g., industrial processes, people assistance) to support an effective collaboration between humans and robots. In this transdisciplinary context, User eXperience (UX) has inevitably to be considered to achieve an effective HRC, namely to allow the robots to better respond to the users’ needs and thus improve the interaction quality. The present paper reviews the evaluation scales used in HRC scenarios, focusing on the application context and evaluated aspects. In particular, a systematic review was conducted based on the following questions: (RQ1) which evaluation scales are adopted within the HRI scenario with collaborative tasks?, and (RQ2) how the UX and user satisfaction are assessed?. The records analysis highlighted that the UX aspects are not sufficiently examined in the current HRC design practice, particularly in the industrial field. This is most likely due to a lack of standardized scales. To respond to this recognized need, a set of dimensions to be considered in a new UX evaluation scale were proposed.
Original languageEnglish
Title of host publicationTransdisciplinarity and the Future of Engineering
EditorsBryan R. Moser, Bryan R. Moser, Pisut Koomsap, Josip Stjepandic
Number of pages11
ISBN (Electronic)978-1-64368-339-3
Publication statusPublished - 31 Oct 2022

Publication series

NameAdvances in Transdisciplinary Engineering
ISSN (Print)2352751X
ISSN (Electronic)23527528


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