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PROCEEDINGS OF THE IEEE 1983年第7期71卷 821-841页

作者： LOZANOPEREZ, T MIT ARTIFICIAL INTELLIGENCE LABCAMBRIDGEMA 02139

The industrial robot's principal advantage over traditional automation is programmability. robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper reviews requirements for and developments in robot programming systems. The key requirements for robot programming systems examined in the paper are in the areas of sensing, world modeling, motion specification, flow of control, and programming support. Existing and proposed robot programming systems fall into three broad categories: guiding systems in which the user leads a robot through the motions to be performed, robot-level programming systems in which the user writes a computer program specifying motion and sensing, and task-level programming systems in which the user specifies operations by their desired effect on objects. A representative sample of systems in each of these categories is surveyed in the paper.

关键词： robot sensing systems robot kinematics Task analysis robot programming

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An augmented reality-based wearable system for handheld-free and intuitive robot programming

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JOURNAL OF INTELLIGENT MANUFACTURING 2025年 1-10页

作者： Kim, Junsoo Lee, Sangyeop Bae, Joonbum Ecole Polytech Fed Lausanne EPFL Soft Transducers Lab LMTS CH-2002 Neuchatel Switzerland Ulsan Natl Inst Sci & Technol UNIST Dept Mech Engn Ulsan 44919 South Korea Korea Univ Sch Mech Engn Seoul 02841 South Korea

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse product varieties in small quantities have sparked the need for new programming methodologies that enable rapid reprogramming and short production cycles. Recently, augmented reality (AR)-based robot programming has gained attention for overlaying virtual images into real working environments, making programming intuitive and fast. However, the discomfort from prolonged use of AR-handheld devices, as well as the accuracy and latency issues associated with vision-based hand tracking, limit their usability, and impede effective human-robot cooperation. To overcome these limitations, this paper introduces an augmented reality (AR)-based wearable robot programming system using a haptic glove, allowing users to intuitively program the robot in a handheld-free and wearable manner. The use of a haptic glove enables accurate measurements of finger joint angles and handheld-free haptic feedback, eliminating discomfort and occlusion problem. The system leverages measured hand posture and finger joint angles, combined with voice commands, to enable the simultaneous input of various types of commands for intuitive programming. A practical human-robot collaboration scenario demonstration with a 6-degrees of freedom (DOF) hydraulic manipulator to disassemble a ladder for repair shows the programming flexibility of our system. The proposed system addresses the evolving trends of the manufacturing industry by enhancing programming flexibility and intuitiveness, as well as promoting seamless cooperation between humans and robots.

关键词： Augmented reality robot programming Wearable interface Haptic feedback Human-robot collaboration

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The Effects of robot programming on Mathematical Achievement, Mathematics Anxiety, and programming Self-Efficacy

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COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2025年第3期33卷

作者： Hangun, Mehmet Emin Turel, Yalin Kilic Firat Univ Coll Educ Dept Comp Educ & Instruct Technol Elazig Turkiye

programming skills and mathematical thinking are among the important skills in the field of information technology. It is common knowledge that programming often involves topics such as loops, variables, functions and mathematical expressions. Students who are beginners in programming or who learn text-based programming are prone to assuming a negative attitude towards their programming education. The aim of this study is to examine the effect of using educational robots on students' mathematical achievement, mathematics anxiety and computer programming self-efficacy perception. 117 secondary school 6th grade students participated in the study, which was conducted in a quasi-experimental design. To compare the variables between the two groups in this study, an independent t-test was used. To analyze the corrected variance differences between the groups, a linear covariance (ANCOVA) analysis was done. At the end of the study, significant differences between the groups in terms of mathematics anxiety and programming self-efficacy perception were noted. In terms of mathematical achievement, however, although it increased both in the experimental group and the control group, no significant differences were found. When the mathematics anxiety pre-test score was controlled, ANCOVA analysis revealed that there was a significant difference in the mathematics anxiety Posttest. This study demonstrated that robots can be an effective tool for positive change in mathematics anxiety and self-efficacy perceptions in computer programming. However, although educational robots provided a positive change in math achievement, they did not provide a significant difference between the groups. At this point, long-term studies examining mathematics achievement with educational robots are needed.

关键词： computer programming self-efficacy perception educational robot mathematical achievement mathematics anxiety robot programming

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Developing preschool children's computational thinking and executive functions: unplugged vs. robot programming activities

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INTERNATIONAL JOURNAL OF STEM EDUCATION 2025年第1期12卷 1-18页

作者： Zhang, Xinli Chen, Yuchen Hu, Lailin Hwang, Gwo-Jen Tu, Yun-Fang Wenzhou Univ Dept Educ Technol Wenzhou 325035 Zhejiang Peoples R China Univ Sydney Sydney Sch Educ & Social Work Sydney NSW 2006 Australia Natl Taiwan Univ Sci & Technol Empower Vocat Educ Res Ctr Taipei Taiwan Natl Taichung Univ Educ Grad Inst Educ Informat & Measurement Taichung Taiwan Yuan Ze Univ Taoyuan Taiwan

BackgroundIn the digital age, fostering young children's computational thinking (CT) and executive functions (EFs) through programming has emerged as a significant research issue. While unplugged programming activities are commonly adopted in preschools, robot programming activities have recently gained attention for the potential to enhance both CT and EFs. Preschoolers are at a pivotal stage for developing CT and EFs. However, there is a dearth of empirical evidence comparing robot programming and unplugged programming activities on preschoolers' CT and EFs development. Therefore, the current research designed a randomized controlled trial to compare the impact of robot programming and unplugged programming activities on 198 5- to 6 year-old preschoolers' CT and EFs (including inhibition, working memory, and cognitive flexibility). Children were randomly allocated to either the robot programming group, the unplugged programming group, or the business-as-usual control *** a 12-week intervention, results revealed that: (1) the robot programming and unplugged programming groups both outperformed the conventional kindergarten group in CT, with the robot programming group having superior effects in CT over time;(2) the robot programming group outperformed the unplugged programming and conventional kindergarten group on inhibition, working memory, and cognitive flexibility of EFs over time;and (3) most preschoolers in the robot programming group had positive perceptions of programmable *** present research demonstrated that robot programming had a more significant and sustained impact on preschoolers' CT and EFs than unplugged programming and conventional kindergarten activities. Accordingly, these findings offered valuable implications for introducing effective programming activities to develop preschoolers' CT and EFs.

关键词： robot programming Unplugged programming Computational thinking Executive functions Preschool children

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An Experimental Study on the Design of Interaction Modalities in Augmented Reality for Industrial robot programming

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Journal of Computing and Information Science in Engineering 2025年第5期25卷 051005页

作者： Chu, Chih-Hsing Lee, I-Yun Department of Industrial Engineering & Engineering Management National Tsing Hua University Hsinchu 300044 Taiwan

Augmented reality (AR) has been applied to facilitate human–robot collaboration in manufacturing. It enhances real-time communication and interaction between humans and robots as a new paradigm of interface. This research conducts an experimental study to systematically evaluate and compare various input modality designs based on hand gestures, eye gaze, head movements, and voice in industrial robot programming. These modalities allow users to perform common robot planning tasks from a distance through an AR headset, including pointing, tracing, 1D rotation, 3D rotation, and switch state. Statistical analyses of both objective and subjective measures collected from the experiment reveal the relative effectiveness of each modality design in assisting individual tasks in terms of positional deviation, operational efficiency, and usability. A verification test on programming a robot to complete a pick-and-place procedure not only demonstrates the practicality of these modality designs but also confirms their cross-comparison results. Significant findings from the experimental study provide design guidelines for AR input modalities that assist in planning robot motions.

关键词： Rotation human–computer interaction Augmented reality Switches human–robot collaboration robot programming Design Manufacturing Computer programming robots virtual and augmented reality environments augmented reality interface design

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PODER: A robot programming Framework to Further Inclusion of People with Mild Cognitive Impairment in HRI Research 25

PODER: A Robot Programming Framework to Further Inclusion of...

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ACM/IEEE International Conference on Human-robot Interaction (HRI)

作者： Dagoberto Cruz-Sandoval Michele Murakami Alyssa Kubota Laurel D. Riek UC San Diego San Diego USA San Francisco State University San Francisco USA

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Many HRI researchers have engaged in participatory research to include users in robot design processes. However, to our knowledge, people with mild cognitive impairment (PwMCI) and early stage dementia have yet to be included in developing and programming robots, and the HRI community lacks tools to facilitate their inclusion. We bridge this gap by introducing PODER (programming framework to Develop robot behaviors), which enables a lived technology experience for PwMCI via scaffolding, peer programming, and development tools to support them as key developers of social robots. We conducted a study where PwMCI and early stage dementia used PODER to program robot interactions, and found that participants were highly engaged and deeply enjoyed their experience, creating programs for robots that reflected their interests, experiences, and needs. Our results show the impact of including participants with MCI and early stage dementia in robot programming, including an increased understanding of technology, shifting their perceived role from technology users to programmers, and desire to be involved with the end-to-end process. By releasing PODER to the community, we hope this work can facilitate the intentional inclusion of people with cognitive impairments in further HRI research.

关键词： Bridges Social robots Collaborative robots robots robot programming Dementia

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A Point-and-Click Augmented Reality Approach Towards Pose Estimation for robot programming 25

A Point-and-Click Augmented Reality Approach Towards Pose Es...

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ACM/IEEE International Conference on Human-robot Interaction (HRI)

作者： Sebastian Blankemeyer David Wendorff Annika Raatz Institute of Assembly Technology and Robotics Leibniz University Hannover Hannover Germany

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Augmented Reality (AR)-based programming approaches hold great promise for addressing the challenges of flexible automation by facilitating fast and intuitive programming processes. Pose estimation of novel objects enhances the program-ming experience by bridging the real and virtual environments. However, a prerequisite for pose estimation is to perform a 2D segmentation to determine the region of interest (ROI). In this work, we present an AR-based approach that enables point-and-click ROI detection through human interaction. Our proof of concept investigates how the achievable accuracy varies with the quality of the user input. The results show that the accuracy of the ROI estimation has a minimal impact on the overall accuracy. Existing limitations can be addressed by other approaches presented.

关键词： Accuracy Automation Service robots Pose estimation Human-robot interaction Virtual environments Resists Reliability Augmented reality robot programming

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Balancing User Control and Perceived robot Social Agency Through the Design of End-User robot programming Interfaces 25

Balancing User Control and Perceived Robot Social Agency Thr...

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ACM/IEEE International Conference on Human-robot Interaction (HRI)

作者： Alex Wuqi Zhang Rafael Queiroz Sarah Sebo Dept. of Computer Science University of Chicago Chicago Illinois USA

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Perceived social agency-the perception of a robot as an autonomous and intelligent social other-is important for fostering meaningful and engaging human-robot interactions. While end-user programming (EUP) enables users to customize robot behavior, enhancing usability and acceptance, it can also potentially undermine the robot's perceived social agency. This study explores the trade-offs between user control over robot behavior and preserving the robot's perceived social agency, and how these factors jointly impact user experience. We conducted a between-subjects study (N = 57) where participants customized the robot's behavior using either a High-Granularity Interface with detailed block-based programming, a Low-Granularity Interface with broader input-form customizations, or no EUP at all. Results show that while both EUP interfaces improved alignment with user preferences, the Low-Granularity Interface better preserved the robot's perceived social agency and led to a more engaging interaction. These findings highlight the need to balance user control with perceived social agency, suggesting that moderate customization without excessive granularity may enhance the overall satisfaction and acceptance of robot products.

关键词： Human-robot interaction User experience Usability robots robot programming

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Optimizing robot programming: Mixed Reality Gripper Control

arXiv

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arXiv 2025年

作者： Rettinger, Maximilian Hacker, Leander Wolters, Philipp Rigoll, Gerhard Technical University of Munich Germany

Conventional robot programming methods are complex and time-consuming for users. In recent years, alternative approaches such as mixed reality have been explored to address these challenges and optimize robot programming. While the findings of the mixed reality robot programming methods are convincing, most existing methods rely on gesture interaction for robot programming. Since controller-based interactions have proven to be more reliable, this paper examines three controller-based programming methods within a mixed reality scenario: 1) Classical Jogging, where the user positions the robot’s end effector using the controller’s thumbsticks, 2) Direct Control, where the controller’s position and orientation directly corresponds to the end effector’s, and 3) Gripper Control, where the controller is enhanced with a 3D-printed gripper attachment to grasp and release objects. A within-subjects study (n = 30) was conducted to compare these methods. The findings indicate that the Gripper Control condition outperforms the others in terms of task completion time, user experience, mental demand, and task performance, while also being the preferred method. Therefore, it demonstrates promising potential as an effective and efficient approach for future robot programming. Video available at https://***/83kWr8zUFIQ. © 2025, CC BY.

关键词： robot programming

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robot programming

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阅读 2019年第44期 47-47页

作者：郑斯予江苏省南京市汉口路小学三(2)班

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