Evaluating user performance and perceptions in a block-based visual programming language for socially assistive robots

Abstract This study reports the results of an empirical study aimed at assessing usability and effectiveness of a block-based visual programming language (VPL) designed to facilitate social robot script creation by novice with basic programming knowledge users. Through a controlled experiment involving novice and expert participants, two assisted use cases were implemented: medication reminder and relaxation therapy, each with three levels of complexity. Quantitative metrics including efficiency, correctness, and assistance frequency were analyzed, along with qualitative feedback. The results indicate that novice with basic programming knowledge users demonstrated high adaptability and achieved near-expert performance levels, with minimal differences in task completion times. Novice with basic programming knowledge users was able to complete the tasks effectively, though some required additional guidance and exhibited small errors, such as disconnected nodes or partial scripts, indicating opportunities to improve the intuitiveness of the interface. Qualitative feedback also emphasized the importance of intuitive visual design, clearer instructions, and better node organization to enhance the user experience. These findings underscore the potential of VPLs to democratize robotics programming by lowering technical barriers, making social robot customization accessible to a wider audience. Future work will focus on refining the VPL interface based on user feedback and expanding the study to diverse user groups and additional use cases.