Title Page
Abstract
Contents
1. Introduction 10
1.1. Research Background 10
1.2. Appearance 11
1.3. Sound 11
1.4. Behavior 11
2. Related Work 12
3. Study Design 13
3.1. Method 13
3.2. Process 14
3.3. Objects 17
3.4. Participants 19
4. Result 21
4.1. User friendly appearance by intuitive elements 21
4.2. Comfortable Sound 35
4.3. Satisfactory behavior 42
4.4. People's acceptance 44
5. Design Implications 52
5.1. Simple appearance with curved without sharp edges 52
5.2. Clean and neat surface, one color 55
5.3. Less buttons can be better 55
5.4. Affordance and signifier 55
5.5. Familiar vacuum sound in middle pitched 55
5.6. New function for delicate clean 56
5.7. Make the machine to work like its user 56
6. Conclusions 57
Table 1. Adjectives for each emotion 13
Table 2. A questionnaire before an interview 15
Table 3. Adjectives in Self-report questionnaire type scale for measuring user's emotions while using a product 16
Table 4. Result of aesthetic adjectives for cleaner1's appearance 23
Table 5. Result of pleasure adjectives for cleaner1's appearance 24
Table 6. Result of excellence adjectives for cleaner1's appearance 25
Table 7. Result of satisfaction in usability adjectives for cleaner1's appearance 26
Table 8. Result of discomfort adjectives for cleaner1's appearance 27
Table 9. Result of novelty adjectives for cleaner1's appearance 28
Table 10. Result of aesthetic adjectives for cleaner2's appearance 29
Table 11. Result of pleasure adjectives for cleaner2's appearance 30
Table 12. Result of excellence adjectives for cleaner2's appearance 31
Table 13. Result of satisfaction in usability adjectives for cleaner2's appearance 32
Table 14. Result of discomfort or displeasure adjectives... 33
Table 15. Result of novelty adjectives for cleaner2's appearance 34
Table 16. Result of aesthetic adjectives for cleaner3's sound 36
Table 17. Result of pleasure adjectives for cleaner3's sound 37
Table 18. Result of excellence adjectives for cleaner3's sound 38
Table 19. Result of satisfaction in usability adjectives for cleaner3's sound 39
Table 20. Result of discomfort and displeasure adjectives for cleaner3's sound 40
Table 21. Result of novelty adjectives for cleaner3's sound 41
Table 22. Result of participants' expecting budget for robot cleaners 44
Table 23. Result of aesthetic adjectives for cleaner2's behavior 45
Table 24. Result of pleasure adjectives for cleaner2's behavior 46
Table 25. Result of excellence adjectives for cleaner2's behavior 47
Table 26. Result of satisfaction in usability adjectives for cleaner2's behavior 48
Table 27. Result of discomfort or displeasure adjectives for cleaner2's behavior 49
Table 28. Result of novelty adjectives for cleaner2's behavior 50
Table 29. Result of discomfort and displeasure adjectives for cleaner3's behavior 51
Table 30. Result of aesthetic adjectives for cleaner4's appearance 53
Table 31. Result of excellence adjectives for cleaner4's appearance 54
Table 32. Standard octave band 55
Figure 1. In a prior study, people are required to observe robot vacuum cleaners for experiments. 12
Figure 2. Process of experiment 14
Figure 3. Picture of Cleaner 1, Cleaner2, Cleaner3. (from left) 17
Figure 4. captured image of each cleaners' working video 18
Figure 5. pictures of Cleaner4 18
Figure 6. Graph of participants' demographic profile 19
Figure 7. Technical familiarity of participants 20
Figure 8. Dustbin of VR10M7020 21
Figure 9. the process of separating the dustbin 21
Figure 10. Appearance of VR6480VMNC 22
Figure 11. three small buttons besides a big power button in LG Roboking 22
Figure 12. Graph of the result, aesthetic adjectives for an appearance of cleaner1 23
Figure 13. Graph of the result, pleasure adjectives for an appearance of cleaner1 24
Figure 14. Graph of the result, excellence adjectives for an appearance of cleaner1 25
Figure 15. Graph of the result, satisfaction in usability adjectives for an appearance of cleaner1 26
Figure 16. Graph of the result, discomfort adjectives for an appearance of cleaner1 27
Figure 17. Graph of the result, novelty adjectives for an appearance of cleaner1 28
Figure 18. Graph of the result, aesthetic adjectives for cleaner2's appearance 29
Figure 19. Graph of the result, pleasure adjectives for cleaner2's appearance 30
Figure 20. Result of excellence adjectives for cleaner2's appearance 31
Figure 21. Result of satisfaction in usability adjectives for cleaner2's appearance 32
Figure 22. Result of discomfort or displeasure adjectives for cleaner2's appearance 33
Figure 23. Result of novelty adjectives for cleaner2's appearance 34
Figure 24. Graph of differences between those two groups in quiet robot, 'Cleaner3' 35
Figure 25. Result of aesthetic adjectives for cleaner3's sound 36
Figure 26. Result of pleasure adjectives for cleaner3's sound 37
Figure 27. Result of excellence adjectives for cleaner3's sound 38
Figure 28. Result of satisfaction in usability adjectives for cleaner3's sound 39
Figure 29. Result of discomfort or displeasure adjectives for cleaner3's sound 40
Figure 30. Result of novelty adjectives for cleaner3's sound 41
Figure 31. Robot cleaner2's moving pattern in 'straight and right angle' 42
Figure 32. Cleaner3's moving pattern with not symmetric shape with floor's pattern. 43
Figure 33. In this scene, people said 'too fast to back up beside the wall' commonly 44
Figure 34. Result of aesthetic adjectives for cleaner2's behavior 45
Figure 35. Result of pleasure adjectives for cleaner2's behavior 46
Figure 36. Result of excellence adjectives for cleaner2's behavior 47
Figure 37. Result of satisfaction in usability adjectives for cleaner2's behavior 48
Figure 38. Result of discomfort or displeasure adjectives for cleaner2's behavior 49
Figure 39. Result of novelty adjectives for cleaner2's behavior 50
Figure 40. Result of discomfort and displeasure adjectives for cleaner2's behavior 51
Figure 41. Result of aesthetic adjectives for cleaner4's appearance 53
Figure 42. Result of excellence adjectives for cleaner4's appearance 54
Figure 43. Cleaner4 is rotating its arms(suctions) in the video 56
Figure 44. moving at straight and right angel 56
Figure 45. moving along the walls 56