{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,15]],"date-time":"2025-08-15T00:44:34Z","timestamp":1755218674958,"version":"3.43.0"},"reference-count":42,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2025,6,26]],"date-time":"2025-06-26T00:00:00Z","timestamp":1750896000000},"content-version":"unspecified","delay-in-days":25,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2025,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This study presents an innovative framework to improve the accessibility and usability of collaborative robot programming. Building on previous research that evaluated the feasibility of using a domain-specific language based on behaviour-driven development, this paper addresses the limitations of earlier work by integrating additional features like a drag-and-drop Blockly web interface. The system enables end users to define and execute robot actions with minimal technical knowledge, making it more adaptable and intuitive. Additionally, a gesture-recognition module facilitates multimodal interaction, allowing users to control robots through natural gestures. The system was evaluated through a user study involving participants with varying levels of professional experience and little to no programming background. Results indicate significant improvements in user satisfaction, with the system usability scale overall score increasing from 7.50 to 8.67 out of a maximum of 10 and integration ratings rising from 4.42 to 4.58 out of 5. Participants completed tasks using a manageable number of blocks (5 to 8) and reported low frustration levels (mean: 8.75 out of 100) alongside moderate mental demand (mean: 38.33 out of 100). These findings demonstrate the tool\u2019s effectiveness in reducing cognitive load, enhancing user engagement and supporting intuitive, efficient programming of collaborative robots for industrial applications.<\/jats:p>","DOI":"10.1017\/s0263574725101720","type":"journal-article","created":{"date-parts":[[2025,6,26]],"date-time":"2025-06-26T08:31:18Z","timestamp":1750926678000},"page":"2046-2080","source":"Crossref","is-referenced-by-count":0,"title":["A gesture-based behaviour-driven development approach for end-user cobot programming"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-2040-377X","authenticated-orcid":false,"given":"Anahide","family":"Silahli","sequence":"first","affiliation":[{"name":"University of Southern Denmark"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1879-3833","authenticated-orcid":false,"given":"Jose Pablo","family":"De la Rosa","sequence":"additional","affiliation":[{"name":"University of Southern Denmark"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6865-7346","authenticated-orcid":false,"given":"Jorge","family":"Solis","sequence":"additional","affiliation":[{"name":"Karlstad University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6518-577X","authenticated-orcid":false,"given":"Gustavo Alfonso","family":"Garcia Ricardez","sequence":"additional","affiliation":[{"name":"Ritsumeikan University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9795-6153","authenticated-orcid":false,"given":"Lotfi","family":"El Hafi","sequence":"additional","affiliation":[{"name":"Ritsumeikan University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7040-6803","authenticated-orcid":false,"given":"Johan","family":"H\u00e5kansson","sequence":"additional","affiliation":[{"name":"Goodtech Solutions AB"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0184-7281","authenticated-orcid":false,"given":"Anders","family":"Stengaard S\u00f8rensen","sequence":"additional","affiliation":[{"name":"University of Southern Denmark"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8961-4663","authenticated-orcid":false,"given":"Thiago","family":"Rocha Silva","sequence":"additional","affiliation":[{"name":"University of Southern Denmark"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,6,26]]},"reference":[{"key":"S0263574725101720_ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-008-0220-y"},{"key":"S0263574725101720_ref7","first-page":"1053","volume-title":"2025 IEEE\/SICE International Symposium on System Integrations (SII)","author":"Martin","year":"2025"},{"key":"S0263574725101720_ref9","doi-asserted-by":"crossref","unstructured":"[9] Silva, T. R. , \u201cTowards a Domain-Specific Language for Behaviour-Driven Development,\u201d 2023 IEEE Symposium on Visual Languages and Human-Centric Computing (VL\/HCC) (2023) pp. 283\u2013286.","DOI":"10.1109\/VL-HCC57772.2023.00054"},{"key":"S0263574725101720_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/BLOCKS.2015.7369000"},{"key":"S0263574725101720_ref40","doi-asserted-by":"publisher","DOI":"10.1037\/0033-295X.100.3.363"},{"key":"S0263574725101720_ref30","first-page":"1","volume-title":"2019, 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","author":"Kapinus","year":"2019"},{"key":"S0263574725101720_ref35","unstructured":"[35] Engel, J. , Rice, B. and Jones, R. , Behave: BDD, python style (2024)."},{"key":"S0263574725101720_ref6","doi-asserted-by":"crossref","unstructured":"[6] Bastin, B. , Hasegawa, S. , Solis, J. , Ronsse, R. , Macq, B. , Hafi, L. E. , Ricardez, G. A. G. and Taniguchi, T. , \u201cGPTAlly: A Safety-Oriented System for Human-Robot Collaboration Based on Foundation Models,\u201d 2025 IEEE\/SICE International Symposium on System Integrations (SII) (2025) pp. 878\u2013884.","DOI":"10.1109\/SII59315.2025.10870936"},{"key":"S0263574725101720_ref18","unstructured":"[18] North, D. , What\u2019s in a story? (2022)."},{"key":"S0263574725101720_ref23","first-page":"102534","volume-title":"Sci. Comput. Program","volume":"200","author":"Akiki","year":"2020"},{"key":"S0263574725101720_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102231"},{"key":"S0263574725101720_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/1-4020-5386-X"},{"key":"S0263574725101720_ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-49425-3_2"},{"key":"S0263574725101720_ref3","unstructured":"[3] E. Commission, Industry 5.0: Human-centric, sustainable and resilient (2020)."},{"key":"S0263574725101720_ref31","doi-asserted-by":"crossref","unstructured":"[31] Senft, E. , Hagenow, M. , Radwin, R. , Zinn, M. , Gleicher, M. and Mutlu, B. , \u201cSituated Live Programming for Human-Robot Collaboration,\u201d The 34th Annual ACM Symposium on User Interface Software and Technology (2021) pp. 613\u2013625.","DOI":"10.1145\/3472749.3474773"},{"key":"S0263574725101720_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CASE59546.2024.10711461"},{"key":"S0263574725101720_ref12","doi-asserted-by":"crossref","unstructured":"[12] Merino, M. V. , Van Der Storm, T. and Google, \u201cBlock-based Syntax from Context-Free Grammars,\u201d Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering (2020) pp. 283\u2013295.","DOI":"10.1145\/3426425.3426948"},{"key":"S0263574725101720_ref2","unstructured":"[2] Eurostat, Employment by sex, age and citizenship (2023)."},{"key":"S0263574725101720_ref27","doi-asserted-by":"crossref","unstructured":"[27] Leonardi, N. , Manca, M. , Patern\u00f2, F. and Santoro, C. , \u201cTrigger-Action Programming for Personalising Humanoid Robot Behaviour,\u201d Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (2019) pp. 1\u201313.","DOI":"10.1145\/3290605.3300675"},{"key":"S0263574725101720_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-24781-2_4"},{"key":"S0263574725101720_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2011.07.009"},{"key":"S0263574725101720_ref1","unstructured":"[1] OECD, Pensions at a glance 2023: OECD and G20 indicators (2023)."},{"volume-title":"Data analysis using Stata","year":"2005","author":"Kohler","key":"S0263574725101720_ref38"},{"key":"S0263574725101720_ref41","doi-asserted-by":"publisher","DOI":"10.1111\/cdep.12352"},{"key":"S0263574725101720_ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793988"},{"year":"2006","author":"North","key":"S0263574725101720_ref15"},{"key":"S0263574725101720_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2018.2840345"},{"key":"S0263574725101720_ref5","unstructured":"[5] Ricardez, G. A. G. , T\u00f6erg, C. , Hafi, L. E. , Solis, J. and Taniguchi, T. , \u201cToward Safe and Efficient Human-Robot Teams: Mixed Reality-based Robot Motion and Safety Index Visualization,\u201d The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, Tokyo, Japan, November 5-10, 2023 (2020) pp. 53\u201354."},{"key":"S0263574725101720_ref26","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2022.2115316"},{"key":"S0263574725101720_ref17","doi-asserted-by":"publisher","DOI":"10.1145\/3664632"},{"key":"S0263574725101720_ref19","unstructured":"[19] Cucumber, Gherkin (2024)."},{"key":"S0263574725101720_ref33","doi-asserted-by":"publisher","DOI":"10.1145\/75200.75222"},{"volume-title":"Specification by Example: How Successful Teams Deliver the Right Software","year":"2011","author":"Adzic","key":"S0263574725101720_ref16"},{"key":"S0263574725101720_ref10","doi-asserted-by":"publisher","DOI":"10.1145\/1592761.1592779"},{"key":"S0263574725101720_ref37","doi-asserted-by":"publisher","DOI":"10.1177\/0018720819881556"},{"key":"S0263574725101720_ref34","unstructured":"[34] Edge, G. A. I. , Mediapipe gesture recognizer (2023)."},{"key":"S0263574725101720_ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-59888-3_33"},{"key":"S0263574725101720_ref39","first-page":"904","volume-title":"Human Factors and Ergonomics Society Annual Meeting","volume":"50","author":"Hart","year":"2006"},{"key":"S0263574725101720_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2021.10.006"},{"key":"S0263574725101720_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2018.8441843"},{"key":"S0263574725101720_ref4","unstructured":"[4] Solis, J. , Nakamori, K. , Ricardez, G. A. G. and H\u00e5kansson, J. , \u201cBody Gesture Recognition for Collaborative Robots,\u201d The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, Tokyo, Japan, November 5-10, 2023 (2023) pp. 61\u201362."},{"key":"S0263574725101720_ref36","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-4115(08)62386-9"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574725101720","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,6]],"date-time":"2025-08-06T09:52:06Z","timestamp":1754473926000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574725101720\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6]]},"references-count":42,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2025,6]]}},"alternative-id":["S0263574725101720"],"URL":"https:\/\/doi.org\/10.1017\/s0263574725101720","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2025,6]]}}}