### Abstract

This article reports on the results of a user study investigating the satisfaction of naive users conducting two learning by demonstration tasks with the HOAP-3 robot. The main goal of this study was to gain insights on how to ensure a successful as well as satisfactory experience for naive users. Participants performed two tasks: They taught the robot to (1) push a box, and to (2) close a box. The user study was accompanied by three pre-structured questionnaires, addressing the users' satisfaction with HOAP-3, the user's affect toward the robot following from the interaction, and the user's attitude towards robots. Furthermore, a retrospective think aloud was conducted to gain a better understanding of what influences the users' satisfaction in learning by demonstration tasks. The results stress that learning by demonstration is a promising approach for naive users to learn the interaction with a robot, as a high task completion and final satisfaction rate could be observed. Moreover, the short term interaction with HOAP-3 led to a positive affect higher than the normative average on half of the female users.

### Bibtex reference

@inproceedings{Weiss09,
author = "A. Weiss and J. Igelsboeck and S. Calinon and A. Billard and M. Tscheligi",
title = "Teaching a Humanoid: {A} User Study on Learning by Demonstration with {HOAP}-3",
booktitle = "Proc. {IEEE} Intl Symposium on Robot and Human Interactive Communication ({Ro-Man})",
year="2009",
month="September",
location="Toyama, Japan",
pages="147--152"
}

### Video

Usability study conducted in collaboration with ICT&S, University of Salzburg.