A Digital Twin-Enhanced KJ-Kano Framework for User-Centric Conceptual Design of Underwater Rescue Robots

To address the increasing complexity and diversity of user requirements in underwater rescue equipment, this study proposes a Digital Twin (DT)-enhanced KJ-Kano conceptual design framework. It systematically closes the feedback loop between requirement prioritization and experiential validation. Unlike traditional approaches, this framework orchestrates KJ clustering, Kano analysis, and mission-aware DT simulation in a domain-adapted, iterative workflow, enabling dynamic validation of user needs under high-risk, simulated rescue scenarios. Functional expectations and preferences were clustered and prioritized, then instantiated in a modular DT prototype for navigation, manipulation, and perception tasks. To evaluate design effectiveness, 55 participants operated the robot DT model and its control interfaces in virtual rescue missions. User satisfaction across functionality, interactivity, intelligence, and appearance was assessed with a five-point Likert scale, and the results showed high reliability (Cronbach’s α = 0.86) and positive evaluations (overall mean = 3.83). Intelligent experience scored highest (3.95), while ease of operation was lowest (3.60), suggesting potential for interface optimization. The framework effectively transforms heterogeneous, context-specific user requirements into validated design solutions, offering a replicable, data-driven methodology for early-stage conceptual design of underwater rescue robots and other safety-critical human–machine systems, bridging the gap between generic design methods and high-risk domain application.