{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,23]],"date-time":"2025-06-23T03:40:01Z","timestamp":1750650001531,"version":"3.41.0"},"reference-count":18,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Semantic Computing"],"published-print":{"date-parts":[[2025,3]]},"abstract":"<jats:p> Various automation tasks require the precise specification of forces\/torques over time and space to be applied to the environment. Traditionally, only experts can provide such specifications, contrasting the need for intuitive robot programming in small and medium-sized enterprises. This paper presents a concept for extending kinesthetic robot programming to allow users to intuitively program motions in contact with the environment. In this context, four novel input methods enable non-experts to input and edit force\/torque profiles graphically via a touch device as a function graph. A user study compares the input methods regarding duration, accuracy and workload. In addition, the system\u2019s intuitiveness and usability for programming in-contact motions are evaluated. For a small sample set ([Formula: see text] = 20), the evaluation of the System Usability Scale (SUS) showed a promising high median result (82.5). Thus, the promising results indicate that the presented programming system is usable and intuitive for non-experts. <\/jats:p>","DOI":"10.1142\/s1793351x25410028","type":"journal-article","created":{"date-parts":[[2025,3,7]],"date-time":"2025-03-07T15:09:42Z","timestamp":1741360182000},"page":"29-53","source":"Crossref","is-referenced-by-count":0,"title":["Input and Editing of Force Profiles of In-Contact Robot Motions via a Touch Graphical User Interface"],"prefix":"10.1142","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-8066-2751","authenticated-orcid":false,"given":"Johannes","family":"Hartwig","sequence":"first","affiliation":[{"name":"Chair for Applied Computer Science III (Robotics and Embedded Systems), University of Bayreuth (UBT), Bayreuth, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pascal","family":"Ruppert","sequence":"additional","affiliation":[{"name":"Chair for Applied Computer Science III (Robotics and Embedded Systems), University of Bayreuth (UBT), Bayreuth, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0250-2728","authenticated-orcid":false,"given":"Dominik","family":"Henrich","sequence":"additional","affiliation":[{"name":"Chair for Applied Computer Science III (Robotics and Embedded Systems), University of Bayreuth (UBT), Bayreuth, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,4,25]]},"reference":[{"key":"S1793351X25410028BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2018.2879747"},{"key":"S1793351X25410028BIB002","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2018.03.104"},{"key":"S1793351X25410028BIB003","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.08.236"},{"key":"S1793351X25410028BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2474708"},{"key":"S1793351X25410028BIB005","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-74032-0_31"},{"key":"S1793351X25410028BIB006","doi-asserted-by":"publisher","DOI":"10.1109\/IRC59093.2023.00038"},{"key":"S1793351X25410028BIB007","doi-asserted-by":"publisher","DOI":"10.1163\/016918611X558261"},{"key":"S1793351X25410028BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363552"},{"key":"S1793351X25410028BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids43949.2019.9035013"},{"key":"S1793351X25410028BIB010","doi-asserted-by":"publisher","DOI":"10.1109\/SMC52423.2021.9658707"},{"key":"S1793351X25410028BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2826064"},{"key":"S1793351X25410028BIB012","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"S1793351X25410028BIB014","volume-title":"Usability Evaluation in Industry","volume":"189","author":"Brooke J.","year":"1995"},{"journal-title":"Technische Universit\u00e4t Berlin","year":"2012","author":"Wegerich A.","key":"S1793351X25410028BIB015"},{"key":"S1793351X25410028BIB016","volume":"8","author":"Brooke J.","year":"2013","journal-title":"J. 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