A heuristic-based approach for assessing usability in electric powered wheelchairs: A preliminary investigation

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Domínguez Ponce, J. García Díaz, J. Vargas Montes, M.E. Romero Díez" "autores" => array:4 [ 0 => array:2 [ "nombre" => "Y." "apellidos" => "Domínguez Ponce" ] 1 => array:2 [ "nombre" => "J." "apellidos" => "García Díaz" ] 2 => array:2 [ "nombre" => "J." "apellidos" => "Vargas Montes" ] 3 => array:2 [ "nombre" => "M.E." "apellidos" => "Romero Díez" ] ] ] ] ] "idiomaDefecto" => "es" "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S0048712023000439?idApp=UINPBA00004N" "url" => "/00487120/0000005800000002/v1_202404020517/S0048712023000439/v1_202404020517/es/main.assets" ] "en" => array:17 [ "idiomaDefecto" => true "cabecera" => "Original" "titulo" => "A heuristic-based approach for assessing usability in electric powered wheelchairs: A preliminary investigation" "tieneTextoCompleto" => true "autores" => array:1 [ 0 => array:4 [ "autoresLista" => "L.R. Borges, A. Abreu Rosa de SÁ, E.L.M. Naves" "autores" => array:3 [ 0 => array:2 [ "nombre" => "L.R." "apellidos" => "Borges" ] 1 => array:4 [ "nombre" => "A." "apellidos" => "Abreu Rosa de SÁ" "email" => array:1 [ 0 => "angelaabreu@gmail.com" ] "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "*" "identificador" => "cor0005" ] ] ] 2 => array:2 [ "nombre" => "E.L.M." "apellidos" => "Naves" ] ] "afiliaciones" => array:1 [ 0 => array:2 [ "entidad" => "Faculty of Electrical Engineering, Federal University of Uberlândia, Assistive Technologies Group, Uberlândia, Brazil" "identificador" => "aff0005" ] ] "correspondencia" => array:1 [ 0 => array:3 [ "identificador" => "cor0005" "etiqueta" => "⁎" "correspondencia" => "Corresponding author." ] ] ] ] "titulosAlternativos" => array:1 [ "es" => array:1 [ "titulo" => "Enfoque heurístico para evaluar la usabilidad de las sillas de ruedas eléctricas: una investigación preliminar" ] ] "textoCompleto" => "IntroductionWheelchairs can be defined as one assistive technology (AT) devices that provide mobility support for people with motor disabilities.<a class="elsevierStyleCrossRef" href="#bib0155">1</a> In general, wheelchairs are prescribed to facilitate independent mobility and expand individuals’ social participation with mobility limitations.<a class="elsevierStyleCrossRef" href="#bib0160">2</a> An electric powered wheelchair (EPW) is a wheelchair with a control center to operate the engine control using a joystick and lead the wheelchair to the wanted user's direction. It is an indispensable AT device in helping people with severe motor disabilities from different pathologies.<a class="elsevierStyleCrossRef" href="#bib0165">3</a>An important issue related to EPW is usability. According to the International Organization for Standardization (9241–11:2018),<a class="elsevierStyleCrossRef" href="#bib0170">4</a> usability can be used to achieve specific goals with effectiveness, efficiency, and satisfaction in a specified context of use. Some factors regarding the usability of an AT device may lead the user to avoid to use it<a class="elsevierStyleCrossRef" href="#bib0175">5</a>: the difficulty of use, esthetics, complexity of instructions, no user training, slow response of the device, pain or discomfort caused by the device, high maintenance cost and incompatibility with the user's needs. Thus, in order for development professionals (engineers, computer programmers) to implement usability factors in an AT device, they must adopt a user-centered development philosophy (UCD), prioritizing users’ needs and expectations throughout the development process of the assistive device. The goal of UCD is to allow the user's contribution to increasing the AT device's acceptance.<a class="elsevierStyleCrossRef" href="#bib0180">6</a> The study of Ref.<a class="elsevierStyleCrossRef" href="#bib0175">5</a> showed that the user's non-participation in developing a device is one reason for non-use. According to Ref.,<a class="elsevierStyleCrossRef" href="#bib0185">7</a> when the development professionals focus on the user and not the device, they learn what works and what frustrates them. Listening to the user is essential because he has unique experiences.<a class="elsevierStyleCrossRefs" href="#bib0190">8,9</a> Further, if they understand users’ experience with the AT device, they can determine whether the device's design matches the user's expectations. Thus, for developers to work according to the UCD, it is necessary to carry out usability tests on the AT device.Usability testing is the activity that focuses on testing how easy an AT device is to a group of users.<a class="elsevierStyleCrossRef" href="#bib0185">7</a> Many inspection and test methods make it possible to evaluate usability. One of these methods is the usability engineering technique, called heuristic evaluation, to help find medical devices’ usability problems.<a class="elsevierStyleCrossRef" href="#bib0200">10</a> Usability experts use heuristic evaluation to inspect a device using a specific set of guidelines (heuristics).<a class="elsevierStyleCrossRef" href="#bib0185">7</a> This method uses heuristic principles or usability heuristics to evaluate a device's usability.<a class="elsevierStyleCrossRefs" href="#bib0205">11,12</a>Moreover, the study of Refs.<a class="elsevierStyleCrossRefs" href="#bib0215">13,14</a> presented usability evaluation methods that aim to increase the acceptance of EPW. However, they did not use heuristic evaluation. They did not consider users’ and developers’ participation in the usability evaluation process of the EPW, even in the construction of the heuristics’ set. According to George Torrens,<a class="elsevierStyleCrossRef" href="#bib0225">15</a> it is important to emphasize the need to specify the AT system's requirements with developers’ and users’ participation. Then, the developed device is as expected by the user, ensuring higher acceptance rates. Furthermore, usability evaluation studies did not present a set of heuristics that can be applied to evaluate the usability of EPWs. This evaluation is extremely important especially when it has to be driven using alternative commands (eye tracking, voice commands, etc.), since the EPW must be designed according to the user's needs.Nevertheless, there is an evident requirement for further scientific exploration into methodologies suitable for evaluating the usability of EPW. What are the key factors that users take into account when considering the adoption of an EPW, in contrast to prematurely discontinuing its use due to adaptation challenges? Do the considerations and safeguards employed by EPW developers correspond to those of the end-users? In this context, heuristics may offer a compelling approach to guide developers in aligning EPW design with user expectations. However, as far as our current knowledge extends, a comprehensive set of heuristics explicitly tailored for the assessment of EPW usability has yet to be developed. Additionally, the development of a dedicated set of heuristics for assessing the usability of an EPW is essential for advancing user-centered EPW projects.In this context, the objective of this study is to introduce a set of heuristics to effectively assess the usability of EPWs. We hypothesize that, by considering the perspectives of both users and developers, it is feasible to delineate a specific set of heuristics for evaluating EPW usability. Consequently, this approach can facilitate developers in aligning with the principles of UCD for assistive technology devices, thereby better meeting user requirements and expectations.MethodsPre-experimental phaseTo perform a heuristic evaluation, a set of heuristics is necessary as the basis for the evaluation. According to Refs.,<a class="elsevierStyleCrossRefs" href="#bib0185">7,11</a> a new set of heuristics is usually based on or adapted from existing heuristics in the literature.Search strategyThe criteria for Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) were adopted.<a class="elsevierStyleCrossRef" href="#bib0230">16</a> The inclusion criteria were: the article had to be indexed in the selected databases (Scopus, Scielo, Science Direct, IEEE Xplore, and Google Scholar) and be fully available in English, French, or Portuguese. Data collection took place over the period 1990–2020. The keywords used were: heuristics, assistive technology, usability, electric wheelchair. The inclusion criteria were the use of heuristics for mobility AT devices. We excluded studies involving usability of wheelchairs simulator.Study selectionAfter reading the 42 pre-selected studies, 35 were excluded after reading the abstract or the full document because they only dealt with the hardware/software development of EPW simulators or did not present any user proficiency test. Thus, the sample for this review consisted of 7 studies.<a class="elsevierStyleCrossRefs" href="#bib0190">8,17–22</a>Set of heuristicsWe compared the selected studies’ information with our experience and AT experts’ knowledge (physiotherapists, occupational therapists, specialists in human–machine interface, and specialists in health technology assessment). As a result, we built a set of 25 heuristics that can be used to evaluate the usability of an EPW (<a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>).<elsevierMultimedia ident="tbl0005"></elsevierMultimedia>Experimental phaseParticipantsParticipants were recruited at the Federal University of Uberlândia, and they were undergraduate or graduate students, professors, or researchers. The study was carried out with 54 participants: 28 EPW users (Group I) and 26 AT developers (Group II). Group I was composed of people who had congenital pathologies or acquired mobility limitations. Group II was composed of AT development professionals (Computational Scientist, AT Researchers, Occupational Therapists, Biomedical Engineer, Electrical Engineer, and Mechanical Engineer). The inclusion criteria were: (a) Group I: using an EPW for at least 3 years; (b) Group II: working with the development of AT devices for at least 3 years.All participants answered a questionnaire to rate the importance of each of 25 heuristics (<a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>) for the evaluation of a EPW driven by eye tracking. They assigned values according to the five-point Likert scale<a class="elsevierStyleCrossRef" href="#bib0265">23</a>: the response equals “1” is unimportant, and “5” is extremely important. Nonetheless, we must acknowledge a constraint in our methodology stemming from the application of a five-point Likert scale for categorizing heuristic responses. While this scale is widely employed, it possesses the potential to underestimate responses falling within the range of 4.5–5. It is imperative to underscore that a binary interpretation of heuristic results, categorizing them solely as “not important” or “extremely important,” would represent an oversimplification. For instance, a substantial score of 4.81, which closely approaches the “extremely important” designation on the Likert scale, signifies the need for further exploration.Statistical analysisWe used the R Software33 for data processing, and we performed the statistical analysis using the Wilcoxon Mann–Whitney test as a statistical comparisons test. According to Ref.,<a class="elsevierStyleCrossRef" href="#bib0270">24</a> the Mann–Whitney test is used when the sample size is small, and the normality test is inconclusive. Thus, the Mann–Whitney test was chosen because it is suitable for our sample size (n=54), the normality test on the dataset failed and the data were ordinal.ResultsAfter the participants answered the questionnaire, assigning values on the five-point Likert scale, we compiled the data using the R Software to compare Group I and Group II responses. <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a> depicts the mean value of each heuristic for Group I and II. Besides, the result of the Wilcoxon Mann–Whitney test between the two groups is presented.<elsevierMultimedia ident="tbl0010"></elsevierMultimedia>According to <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a>, the results indicate a statistically significant difference between Group I and Group II concerning the rating of the importance of 16 heuristics: 2, 3, 4, 6, 7, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24 and 25. This finding indicates that each Group rated a different level of importance on each heuristic. Also, a significant highlight is that, for all these heuristics, Group I's mean values were higher than the mean values of Group II. This result shows that Group I consider these specific heuristics more critical in an EPW than Group II.Another interesting observation is that 7 statistically significant heuristics (2, 3, 4, 19, 22, 23, 25) are related to the user not using the AT device anymore.<a class="elsevierStyleCrossRef" href="#bib0260">22</a> This result suggests that Group II does not consider these specific heuristics very important in developing an EPW.Moreover, the 9 heuristics (1, 5, 8, 9, 10, 11, 12, 18, 21) with no statistically significant difference are related to the correct functioning of the EPW. In this topic, Group I and II agreed on the level of importance of each heuristic.DiscussionThe literature shows that heuristics can be a useful analytical method to assess the usability of AT devices. The study by Ref.<a class="elsevierStyleCrossRef" href="#bib0275">25</a> emphasizes that heuristics complement the accessibility guidelines, facilitating the evaluation process. According to Refs.,<a class="elsevierStyleCrossRefs" href="#bib0205">11,26</a> new heuristics are created from existing heuristics, methodologies, literature reviews, usability problems, guidelines, design recommendations, interviews, theories, and mixing processes.Thus, our study was based on a mixing process to propose a heuristics set for usability evaluation of an EPW (<a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>). We used the following elements to establish the set of 25 heuristics: literature review, existing heuristics, and usability problems in the context of mobility AT devices.As shown in <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a>, we noticed a statistically significant difference in the classification that users (Group I) and AT development professionals (Group II) answered about the heuristics (2, 3, 4, 6, 7, 13, 14, 15, 16, 17, 19, 20, 22, 23, 24 and 25) related to the technical design of the EPW. This result reinforces that listening to and understanding the user is necessary since heuristics considered critical to the user does not seem to be a priority for AT device developers. According to Ref.,<a class="elsevierStyleCrossRef" href="#bib0285">27</a> listening to users helps to understand their dissatisfaction and makes it easier to develop a more friendly EPW.Another highlight is the difference in the mean values of the heuristic “22 – Aesthetics”. Group I's mean values were higher than for Group II, which demonstrates that users attributed more importance to this specific heuristic than AT development professionals. This result is corroborated with the research findings by Ref.,<a class="elsevierStyleCrossRef" href="#bib0290">28</a> which emphasize the difference in perception between AT professionals and users regarding esthetic aspects and use in AT devices’ public or family environment.Also, the difference in the results presented in <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a> suggests the importance of the user's opinion on the usability aspects of EPW to ensure a UCD. This finding highlights the need to include the user's point of view in an AT device's usability evaluation criteria. Besides, this fact demonstrates the importance of the agreement between TA professionals and consumers about using the TA device to increase their acceptance by the user. When the EPW is developed according to user expectations, user satisfaction will increase.<a class="elsevierStyleCrossRef" href="#bib0295">29</a>In summary, in this research we proposed a set of heuristics to evaluate the usability of EPW driven by eye tracking and presented a preliminary study. However, further studies are needed to validate this proposal, measure its effectiveness and extend it to EPWs controlled by other alternative commands. Nevertheless, the set of heuristics in this study can contribute to other studies that can adapt them to other mobility AT devices’ usability evaluation.Nonetheless, a limitation of this study, it is essential to underscore that this research relied on a compilation of heuristics found in the existing literature. In addition, this study lies in the relatively small number of research participants, comprising 28 EPW users and 26 AT developers, as well as the utilization of a singular type of EPW for evaluation. In order to enhance the accuracy of the research findings, it is imperative to employ the set of heuristics with a more extensive participant pool encompassing both groups. Furthermore, it would be beneficial to apply these heuristics to diverse EPWs operated through various alternative commands, such as eye tracking or voice commands, among others.ConclusionAlthough there are several usability evaluation methods, heuristic evaluation can also be a new approach to perform usability evaluation of EPW. This study proposed a set of 25 heuristics to evaluate the usability of EPW and help developers work according to the UCD and reach the user's needs and expectations. We performed the rating of the importance of heuristics for evaluating the EPW with 54 participants: 28 EPW users (Group I) and 26 AT developers (Group II). We found a significant difference between AT users and development professionals’ opinions on the rating of 16 of 25 heuristics.Our findings suggest that users’ opinions are indispensable during the steps of the UCD of an EPW. Additionally, this result reinforces our initial hypothesis, based on users’ and developers’ opinion, that it is possible to identify specific heuristics to evaluate the usability of EPW. It could help a fair technology evaluation matching the user's needs and expectations. Therefore, as a scientific contribution of this study, we furnish a more solid basis for subsequent research in the particular domain of using heuristics for evaluating the usability of EPWs.As future work, further studies are needed to validate and evaluate the effectiveness of the proposed set of heuristics to evaluate the usability of EPW. Also, further research may adapt our set of heuristics to apply in evaluating the usability of other devices.Authors’ contributionsLRG supervised the experiments and wrote the first draft of the manuscript. ELMN supervised, revised, and gave the final approval of the manuscript. AARS has been involved in drafting the manuscript and revising it critically for important intellectual content and final approval of the published version. All authors read and approved the final manuscript.Ethics approvalApproved by the Ethics Committee from the Federal University of Uberlandia – Brazil. Prot. Number: CEP/UFU 37756614.0.0000.5152.Consent to participateInformed consent document was signed by participants and approved by the Ethics Committee from the Federal University of Uberlandia – Brazil. Prot. Number: CEP/UFU 37756614.0.0000.5152.Patients consentThe authors declare that they obtained the patient's consent for publication of the article.FundingThis study was financed in part by the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior – Brazil (CAPES). Finance code 001.Conflict of interestThe authors declare that they have no conflict of interest." 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Recent studies did not use heuristic evaluation and did not consider users’ and developers’ participation in the usability evaluation process of the EPW, especially when it has to be driven using alternative commands. Thus, this study investigates the use of heuristics to evaluate the usability of EPW driven by alternative commands, considering the opinion of users and assistive technology (AT) development professionals. MethodsThe study was carried out with 54 participants: 28 EPW users (Group I) and 26 AT developers (Group II). We built a set of 25 heuristics that affects EPW usability. Participants rated each of the 25 heuristics according to their importance for the usability of EPW using the five-point Likert scale. We used the R Software to perform the Wilcoxon Mann–Whitney test as a statistical comparisons test between Group I and II. ResultsThe results showed a statistically significant difference (p<0.05) between Group I and II in the evaluation of 16 heuristics. We identified an important set of heuristics that could help evaluate and improve the usability of EPW. ConclusionThe findings highlighted the importance of considering users’ and developers’ points of view in developing an EPW and its evaluation criteria. It could help the design of the device match the user's needs and expectations. The set of heuristics in this study can be adapted to evaluate other devices’ usability using the heuristic evaluation approach." "secciones" => array:4 [ 0 => array:2 [ "identificador" => "abst0005" "titulo" => "Objective" ] 1 => array:2 [ "identificador" => "abst0010" "titulo" => "Methods" ] 2 => array:2 [ "identificador" => "abst0015" "titulo" => "Results" ] 3 => array:2 [ "identificador" => "abst0020" "titulo" => "Conclusion" ] ] ] "es" => array:3 [ "titulo" => "Resumen" "resumen" => "ObjetivoLa usabilidad es una cuestión importante relacionada con las sillas de ruedas eléctricas (SRE). Los estudios recientes no han utilizado evaluaciones heurísticas ni han contemplado la participación de los usuarios y desarrolladores en el proceso de evaluación de dichas sillas, especialmente cuando deben conducirse utilizando comandos alternativos. Por ello, este estudio investiga el uso de la heurística para evaluar la usabilidad de las SRE impulsadas por comandos alternativos, considerando la opinión de los usuarios y los profesionales del desarrollo de la tecnología asistencial (TA). MétodosEl estudio se realizó con 54 participantes: 28 usuarios de SRE (Grupo I) y 26 desarrolladores de TA (Grupo II). Construimos un conjunto de 25 heurísticas que afectan a la usabilidad de las SRE. Los sujetos calificaron cada una de las 25 heurísticas de acuerdo con su importancia para la usabilidad de las SRE utilizando la escala de Likert de cinco puntos. Utilizamos el software R para realizar la prueba de Wilcoxon-Mann-Whitney como prueba de comparación estadística entre los Grupos I y II. ResultadosLos resultados reflejaron una diferencia estadística significativa (p < 0,05) entre los Grupos I y II en la evaluación de las 16 heurísticas. Identificamos un conjunto importante de heurísticas que podrían ayudar a evaluar y mejorar la usabilidad de las SRE. ConclusiónLos hallazgos subrayaron la importancia de estimar los puntos de vista de los usuarios y desarrolladores a la hora de desarrollar una SRE, así como sus criterios de evaluación. Estos podrían contribuir a que el diseño del dispositivo coincidiera con las necesidades y expectativas de los usuarios. El conjunto de heurísticas de este estudio puede adaptarse, para evaluar la usabilidad de otros dispositivos, utilizando el enfoque de evaluación heurística." "secciones" => array:4 [ 0 => array:2 [ "identificador" => "abst0025" "titulo" => "Objetivo" ] 1 => array:2 [ "identificador" => "abst0030" "titulo" => "Métodos" ] 2 => array:2 [ "identificador" => "abst0035" "titulo" => "Resultados" ] 3 => array:2 [ "identificador" => "abst0040" "titulo" => "Conclusión" ] ] ] ] "multimedia" => array:2 [ 0 => array:8 [ "identificador" => "tbl0005" "etiqueta" => "Table 1" "tipo" => "MULTIMEDIATABLA" "mostrarFloat" => true "mostrarDisplay" => false "detalles" => array:1 [ 0 => array:3 [ "identificador" => "at1" "detalle" => "Table " "rol" => "short" ] ] "tabla" => array:1 [ "tablatextoimagen" => array:1 [ 0 => array:2 [ "tabla" => array:1 [ 0 => """ <table border="0" frame="\n \t\t\t\t\tvoid\n \t\t\t\t" class=""><thead title="thead"><tr title="table-row"><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black"> \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">Heuristic \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">Definition \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">References \t\t\t\t\t\t\n \t\t\t\t\t\t</th></tr></thead><tbody title="tbody"><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">1 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Interaction and comfort \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The technology should have an adaptable interface by prioritizing the increase of user interaction and comfort. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175">5,18,22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">2 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Portability \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should run on different hardware or software platforms. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260">22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">3 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Integration \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The technology should be versatile and work with other devices and systems that the user already uses. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260">22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Autonomy in the system startup \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The users should have the ability to boot the system without needing extra help. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260">22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">5 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Autonomy in the system operation \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The users should have the ability to operate the system autonomously after training. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260">22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">6 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Freedom of control \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The users should have the freedom to choose tasks when appropriate. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250">20,17</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">7 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Feedback \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should provide users with information about its performed activities. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235">17</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">8 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Esthetic and minimalist design \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should present accurate information in a clear and objective format. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235">17</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">9 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Minimize user memory overhead \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The interface should display dialog elements intuitively so that users can make choices without memorizing specific commands. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0235">17,18,20</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">10 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Ensure that the interface does not have a physical form that can cause injury \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should prevent any type of injury that might cause danger to the user. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250">20,22,30</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">11 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Ensure that the interface does not have behaviors that can cause injury \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The interface should prevent any unintentional damage to the user. It should prevent fatigue to the user sensory capacity. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250">20,22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">12 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Provide mechanisms that do not failProvide fail-safe mechanisms \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should provide an accessible emergency exit that overrides the device's actions and displays information about device damage without actively or passively harming the user. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0250">20</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">13 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Safety and reliability \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should predict and avoid errors to encourage user confidence. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175">5,20</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">14 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Prevent errors \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should identify the situations that can cause more errors and then modify itself so that these errors do not occur and disturb the user. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235">17</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">15 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Minimize process length \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should have automated steps to avoid repetitive user tasks. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0240">18,20</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">16 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Flexibility and efficiency of use \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should have automated steps to avoid repetitive user tasks. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0240">18,20</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">17 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Ability to choose between access devices \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Interactions so that the user can choose according to his or her preference and ability. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250">20,22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">18 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Customizing the interface and memorizing user preferences in the system \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should allow the user to customize the interface. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0250">20</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">19 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Response time \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should simplify user input by generating quick and adequate responses that do not disturb other activities. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260">22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">20 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The combination between the system and the real world \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should explore the environment and use appropriate language to facilitate user understanding. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0235">17,18,20,30</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">21 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Consistency \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The system should standardize commands to perform the same action in the same place every time to avoid doubt or user uncertainty. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235">17</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">22 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Esthetic \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The technology should present a consistent set of shape, weight, and size options that do not embarrass the user. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175">5,22,30</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">23 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Accessibility and support \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The developers or people who prescribed and/or sell the technology should provide adequate support and training to ease technology. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175">5,22,30</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">24 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Help and documentation \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The interface should be easy-to-use (intuitive), and it should not require help or other documentation. If necessary, any assistance should be easily accessible online. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235">17</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">25 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">Effectiveness \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t">The technology should ensure that it does what it is intended to satisfy the user's specific needs. \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175">5,22</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr></tbody></table> """ ] "imagenFichero" => array:1 [ 0 => "xTab3500142.png" ] ] ] ] "descripcion" => array:1 [ "en" => "Set of heuristics for usability evaluation of EPW." ] ] 1 => array:8 [ "identificador" => "tbl0010" "etiqueta" => "Table 2" "tipo" => "MULTIMEDIATABLA" "mostrarFloat" => true "mostrarDisplay" => false "detalles" => array:1 [ 0 => array:3 [ "identificador" => "at2" "detalle" => "Table " "rol" => "short" ] ] "tabla" => array:2 [ "tablatextoimagen" => array:1 [ 0 => array:2 [ "tabla" => array:1 [ 0 => """ <table border="0" frame="\n \t\t\t\t\tvoid\n \t\t\t\t" class=""><thead title="thead"><tr title="table-row"><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">Heuristic \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">Group I \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">SD \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">Group II \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">SD \t\t\t\t\t\t\n \t\t\t\t\t\t</th><th class="td" title="\n \t\t\t\t\ttable-head\n \t\t\t\t " align="left" valign="\n \t\t\t\t\ttop\n \t\t\t\t" scope="col" style="border-bottom: 2px solid black">p \t\t\t\t\t\t\n \t\t\t\t\t\t</th></tr></thead><tbody title="tbody"><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">1 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.71 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.98 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.81 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.81 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.6356 \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">2 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.61 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.74 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">3.65 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.89 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">3.395e−05<a class="elsevierStyleCrossRef" href="#tblfn0005">*</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">3 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.46 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.63 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.04 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.32 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.0210<a class="elsevierStyleCrossRef" href="#tblfn0005">*</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.93 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.24 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.38 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.67 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">0.0010<a class="elsevierStyleCrossRef" href="#tblfn0005">*</a> \t\t\t\t\t\t\n \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">5 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n \t\t\t\t\ttable-entry\n \t\t\t\t " align="char" valign="\n \t\t\t\t\ttop\n \t\t\t\t">4.82 \t\t\t\t\t\t\n \t\t\t\t</td><td class="td" title="\n 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A heuristic-based approach for assessing usability in electric powered wheelchairs: A preliminary investigation

Enfoque heurístico para evaluar la usabilidad de las sillas de ruedas eléctricas: una investigación preliminar

L.R. Borges, A. Abreu Rosa de SÁ

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angelaabreu@gmail.com

Corresponding author.

, E.L.M. Naves

Faculty of Electrical Engineering, Federal University of Uberlândia, Assistive Technologies Group, Uberlândia, Brazil

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    "textoCompleto" => "<span class="elsevierStyleSections"><span id="sec0005" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0065">Introduction</span><p id="par0005" class="elsevierStylePara elsevierViewall">Wheelchairs can be defined as one assistive technology &#40;AT&#41; devices that provide mobility support for people with motor disabilities&#46;<a class="elsevierStyleCrossRef" href="#bib0155"><span class="elsevierStyleSup">1</span></a> In general&#44; wheelchairs are prescribed to facilitate independent mobility and expand individuals&#8217; social participation with mobility limitations&#46;<a class="elsevierStyleCrossRef" href="#bib0160"><span class="elsevierStyleSup">2</span></a> An electric powered wheelchair &#40;EPW&#41; is a wheelchair with a control center to operate the engine control using a joystick and lead the wheelchair to the wanted user&#39;s direction&#46; It is an indispensable AT device in helping people with severe motor disabilities from different pathologies&#46;<a class="elsevierStyleCrossRef" href="#bib0165"><span class="elsevierStyleSup">3</span></a></p><p id="par0010" class="elsevierStylePara elsevierViewall">An important issue related to EPW is usability&#46; According to the International Organization for Standardization &#40;9241&#8211;11&#58;2018&#41;&#44;<a class="elsevierStyleCrossRef" href="#bib0170"><span class="elsevierStyleSup">4</span></a> usability can be used to achieve specific goals with effectiveness&#44; efficiency&#44; and satisfaction in a specified context of use&#46; Some factors regarding the usability of an AT device may lead the user to avoid to use it<a class="elsevierStyleCrossRef" href="#bib0175"><span class="elsevierStyleSup">5</span></a>&#58; the difficulty of use&#44; esthetics&#44; complexity of instructions&#44; no user training&#44; slow response of the device&#44; pain or discomfort caused by the device&#44; high maintenance cost and incompatibility with the user&#39;s needs&#46; Thus&#44; in order for development professionals &#40;engineers&#44; computer programmers&#41; to implement usability factors in an AT device&#44; they must adopt a user-centered development philosophy &#40;UCD&#41;&#44; prioritizing users&#8217; needs and expectations throughout the development process of the assistive device&#46; The goal of UCD is to allow the user&#39;s contribution to increasing the AT device&#39;s acceptance&#46;<a class="elsevierStyleCrossRef" href="#bib0180"><span class="elsevierStyleSup">6</span></a> The study of Ref&#46;<a class="elsevierStyleCrossRef" href="#bib0175"><span class="elsevierStyleSup">5</span></a> showed that the user&#39;s non-participation in developing a device is one reason for non-use&#46; According to Ref&#46;&#44;<a class="elsevierStyleCrossRef" href="#bib0185"><span class="elsevierStyleSup">7</span></a> when the development professionals focus on the user and not the device&#44; they learn what works and what frustrates them&#46; Listening to the user is essential because he has unique experiences&#46;<a class="elsevierStyleCrossRefs" href="#bib0190"><span class="elsevierStyleSup">8&#44;9</span></a> Further&#44; if they understand users&#8217; experience with the AT device&#44; they can determine whether the device&#39;s design matches the user&#39;s expectations&#46; Thus&#44; for developers to work according to the UCD&#44; it is necessary to carry out usability tests on the AT device&#46;</p><p id="par0015" class="elsevierStylePara elsevierViewall">Usability testing is the activity that focuses on testing how easy an AT device is to a group of users&#46;<a class="elsevierStyleCrossRef" href="#bib0185"><span class="elsevierStyleSup">7</span></a> Many inspection and test methods make it possible to evaluate usability&#46; One of these methods is the usability engineering technique&#44; called heuristic evaluation&#44; to help find medical devices&#8217; usability problems&#46;<a class="elsevierStyleCrossRef" href="#bib0200"><span class="elsevierStyleSup">10</span></a> Usability experts use heuristic evaluation to inspect a device using a specific set of guidelines &#40;heuristics&#41;&#46;<a class="elsevierStyleCrossRef" href="#bib0185"><span class="elsevierStyleSup">7</span></a> This method uses heuristic principles or usability heuristics to evaluate a device&#39;s usability&#46;<a class="elsevierStyleCrossRefs" href="#bib0205"><span class="elsevierStyleSup">11&#44;12</span></a></p><p id="par0020" class="elsevierStylePara elsevierViewall">Moreover&#44; the study of Refs&#46;<a class="elsevierStyleCrossRefs" href="#bib0215"><span class="elsevierStyleSup">13&#44;14</span></a> presented usability evaluation methods that aim to increase the acceptance of EPW&#46; However&#44; they did not use heuristic evaluation&#46; They did not consider users&#8217; and developers&#8217; participation in the usability evaluation process of the EPW&#44; even in the construction of the heuristics&#8217; set&#46; According to George Torrens&#44;<a class="elsevierStyleCrossRef" href="#bib0225"><span class="elsevierStyleSup">15</span></a> it is important to emphasize the need to specify the AT system&#39;s requirements with developers&#8217; and users&#8217; participation&#46; Then&#44; the developed device is as expected by the user&#44; ensuring higher acceptance rates&#46; Furthermore&#44; usability evaluation studies did not present a set of heuristics that can be applied to evaluate the usability of EPWs&#46; This evaluation is extremely important especially when it has to be driven using alternative commands &#40;eye tracking&#44; voice commands&#44; etc&#46;&#41;&#44; since the EPW must be designed according to the user&#39;s needs&#46;</p><p id="par0025" class="elsevierStylePara elsevierViewall">Nevertheless&#44; there is an evident requirement for further scientific exploration into methodologies suitable for evaluating the usability of EPW&#46; What are the key factors that users take into account when considering the adoption of an EPW&#44; in contrast to prematurely discontinuing its use due to adaptation challenges&#63; Do the considerations and safeguards employed by EPW developers correspond to those of the end-users&#63; In this context&#44; heuristics may offer a compelling approach to guide developers in aligning EPW design with user expectations&#46; However&#44; as far as our current knowledge extends&#44; a comprehensive set of heuristics explicitly tailored for the assessment of EPW usability has yet to be developed&#46; Additionally&#44; the development of a dedicated set of heuristics for assessing the usability of an EPW is essential for advancing user-centered EPW projects&#46;</p><p id="par0030" class="elsevierStylePara elsevierViewall">In this context&#44; the objective of this study is to introduce a set of heuristics to effectively assess the usability of EPWs&#46; We hypothesize that&#44; by considering the perspectives of both users and developers&#44; it is feasible to delineate a specific set of heuristics for evaluating EPW usability&#46; Consequently&#44; this approach can facilitate developers in aligning with the principles of UCD for assistive technology devices&#44; thereby better meeting user requirements and expectations&#46;</p></span><span id="sec0010" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0070">Methods</span><span id="sec0015" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0075">Pre-experimental phase</span><p id="par0035" class="elsevierStylePara elsevierViewall">To perform a heuristic evaluation&#44; a set of heuristics is necessary as the basis for the evaluation&#46; According to Refs&#46;&#44;<a class="elsevierStyleCrossRefs" href="#bib0185"><span class="elsevierStyleSup">7&#44;11</span></a> a new set of heuristics is usually based on or adapted from existing heuristics in the literature&#46;</p><span id="sec0020" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0080">Search strategy</span><p id="par0040" class="elsevierStylePara elsevierViewall">The criteria for Preferred Reporting Items for Systematic Reviews and Meta-Analyses &#40;PRISMA&#41; were adopted&#46;<a class="elsevierStyleCrossRef" href="#bib0230"><span class="elsevierStyleSup">16</span></a> The inclusion criteria were&#58; the article had to be indexed in the selected databases &#40;Scopus&#44; Scielo&#44; Science Direct&#44; IEEE Xplore&#44; and Google Scholar&#41; and be fully available in English&#44; French&#44; or Portuguese&#46; Data collection took place over the period 1990&#8211;2020&#46; The keywords used were&#58; heuristics&#44; assistive technology&#44; usability&#44; electric wheelchair&#46; The inclusion criteria were the use of heuristics for mobility AT devices&#46; We excluded studies involving usability of wheelchairs simulator&#46;</p></span><span id="sec0025" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0085">Study selection</span><p id="par0045" class="elsevierStylePara elsevierViewall">After reading the 42 pre-selected studies&#44; 35 were excluded after reading the abstract or the full document because they only dealt with the hardware&#47;software development of EPW simulators or did not present any user proficiency test&#46; Thus&#44; the sample for this review consisted of 7 studies&#46;<a class="elsevierStyleCrossRefs" href="#bib0190"><span class="elsevierStyleSup">8&#44;17&#8211;22</span></a></p></span><span id="sec0030" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0090">Set of heuristics</span><p id="par0050" class="elsevierStylePara elsevierViewall">We compared the selected studies&#8217; information with our experience and AT experts&#8217; knowledge &#40;physiotherapists&#44; occupational therapists&#44; specialists in human&#8211;machine interface&#44; and specialists in health technology assessment&#41;&#46; As a result&#44; we built a set of 25 heuristics that can be used to evaluate the usability of an EPW &#40;<a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>&#41;&#46;</p><elsevierMultimedia ident="tbl0005"></elsevierMultimedia></span></span><span id="sec0035" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0095">Experimental phase</span><span id="sec0040" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0100">Participants</span><p id="par0055" class="elsevierStylePara elsevierViewall">Participants were recruited at the Federal University of Uberl&#226;ndia&#44; and they were undergraduate or graduate students&#44; professors&#44; or researchers&#46; The study was carried out with 54 participants&#58; 28 EPW users &#40;Group I&#41; and 26 AT developers &#40;Group II&#41;&#46; Group I was composed of people who had congenital pathologies or acquired mobility limitations&#46; Group II was composed of AT development professionals &#40;Computational Scientist&#44; AT Researchers&#44; Occupational Therapists&#44; Biomedical Engineer&#44; Electrical Engineer&#44; and Mechanical Engineer&#41;&#46; The inclusion criteria were&#58; &#40;a&#41; Group I&#58; using an EPW for at least 3 years&#59; &#40;b&#41; Group II&#58; working with the development of AT devices for at least 3 years&#46;</p><p id="par0060" class="elsevierStylePara elsevierViewall">All participants answered a questionnaire to rate the importance of each of 25 heuristics &#40;<a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>&#41; for the evaluation of a EPW driven by eye tracking&#46; They assigned values according to the five-point Likert scale<a class="elsevierStyleCrossRef" href="#bib0265"><span class="elsevierStyleSup">23</span></a>&#58; the response equals &#8220;1&#8221; is unimportant&#44; and &#8220;5&#8221; is extremely important&#46; Nonetheless&#44; we must acknowledge a constraint in our methodology stemming from the application of a five-point Likert scale for categorizing heuristic responses&#46; While this scale is widely employed&#44; it possesses the potential to underestimate responses falling within the range of 4&#46;5&#8211;5&#46; It is imperative to underscore that a binary interpretation of heuristic results&#44; categorizing them solely as &#8220;not important&#8221; or &#8220;extremely important&#44;&#8221; would represent an oversimplification&#46; For instance&#44; a substantial score of 4&#46;81&#44; which closely approaches the &#8220;extremely important&#8221; designation on the Likert scale&#44; signifies the need for further exploration&#46;</p></span><span id="sec0045" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0105">Statistical analysis</span><p id="par0065" class="elsevierStylePara elsevierViewall">We used the R Software<span class="elsevierStyleSup">33</span> for data processing&#44; and we performed the statistical analysis using the Wilcoxon Mann&#8211;Whitney test as a statistical comparisons test&#46; According to Ref&#46;&#44;<a class="elsevierStyleCrossRef" href="#bib0270"><span class="elsevierStyleSup">24</span></a> the Mann&#8211;Whitney test is used when the sample size is small&#44; and the normality test is inconclusive&#46; Thus&#44; the Mann&#8211;Whitney test was chosen because it is suitable for our sample size &#40;<span class="elsevierStyleItalic">n</span><span class="elsevierStyleHsp" style=""></span>&#61;<span class="elsevierStyleHsp" style=""></span>54&#41;&#44; the normality test on the dataset failed and the data were ordinal&#46;</p></span></span></span><span id="sec0050" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0110">Results</span><p id="par0070" class="elsevierStylePara elsevierViewall">After the participants answered the questionnaire&#44; assigning values on the five-point Likert scale&#44; we compiled the data using the R Software to compare Group I and Group II responses&#46; <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a> depicts the mean value of each heuristic for Group I and II&#46; Besides&#44; the result of the Wilcoxon Mann&#8211;Whitney test between the two groups is presented&#46;</p><elsevierMultimedia ident="tbl0010"></elsevierMultimedia><p id="par0075" class="elsevierStylePara elsevierViewall">According to <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a>&#44; the results indicate a statistically significant difference between Group I and Group II concerning the rating of the importance of 16 heuristics&#58; 2&#44; 3&#44; 4&#44; 6&#44; 7&#44; 13&#44; 14&#44; 15&#44; 16&#44; 17&#44; 19&#44; 20&#44; 22&#44; 23&#44; 24 and 25&#46; This finding indicates that each Group rated a different level of importance on each heuristic&#46; Also&#44; a significant highlight is that&#44; for all these heuristics&#44; Group I&#39;s mean values were higher than the mean values of Group II&#46; This result shows that Group I consider these specific heuristics more critical in an EPW than Group II&#46;</p><p id="par0080" class="elsevierStylePara elsevierViewall">Another interesting observation is that 7 statistically significant heuristics &#40;2&#44; 3&#44; 4&#44; 19&#44; 22&#44; 23&#44; 25&#41; are related to the user not using the AT device anymore&#46;<a class="elsevierStyleCrossRef" href="#bib0260"><span class="elsevierStyleSup">22</span></a> This result suggests that Group II does not consider these specific heuristics very important in developing an EPW&#46;</p><p id="par0085" class="elsevierStylePara elsevierViewall">Moreover&#44; the 9 heuristics &#40;1&#44; 5&#44; 8&#44; 9&#44; 10&#44; 11&#44; 12&#44; 18&#44; 21&#41; with no statistically significant difference are related to the correct functioning of the EPW&#46; In this topic&#44; Group I and II agreed on the level of importance of each heuristic&#46;</p></span><span id="sec0055" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0115">Discussion</span><p id="par0090" class="elsevierStylePara elsevierViewall">The literature shows that heuristics can be a useful analytical method to assess the usability of AT devices&#46; The study by Ref&#46;<a class="elsevierStyleCrossRef" href="#bib0275"><span class="elsevierStyleSup">25</span></a> emphasizes that heuristics complement the accessibility guidelines&#44; facilitating the evaluation process&#46; According to Refs&#46;&#44;<a class="elsevierStyleCrossRefs" href="#bib0205"><span class="elsevierStyleSup">11&#44;26</span></a> new heuristics are created from existing heuristics&#44; methodologies&#44; literature reviews&#44; usability problems&#44; guidelines&#44; design recommendations&#44; interviews&#44; theories&#44; and mixing processes&#46;</p><p id="par0095" class="elsevierStylePara elsevierViewall">Thus&#44; our study was based on a mixing process to propose a heuristics set for usability evaluation of an EPW &#40;<a class="elsevierStyleCrossRef" href="#tbl0005">Table 1</a>&#41;&#46; We used the following elements to establish the set of 25 heuristics&#58; literature review&#44; existing heuristics&#44; and usability problems in the context of mobility AT devices&#46;</p><p id="par0100" class="elsevierStylePara elsevierViewall">As shown in <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a>&#44; we noticed a statistically significant difference in the classification that users &#40;Group I&#41; and AT development professionals &#40;Group II&#41; answered about the heuristics &#40;2&#44; 3&#44; 4&#44; 6&#44; 7&#44; 13&#44; 14&#44; 15&#44; 16&#44; 17&#44; 19&#44; 20&#44; 22&#44; 23&#44; 24 and 25&#41; related to the technical design of the EPW&#46; This result reinforces that listening to and understanding the user is necessary since heuristics considered critical to the user does not seem to be a priority for AT device developers&#46; According to Ref&#46;&#44;<a class="elsevierStyleCrossRef" href="#bib0285"><span class="elsevierStyleSup">27</span></a> listening to users helps to understand their dissatisfaction and makes it easier to develop a more friendly EPW&#46;</p><p id="par0105" class="elsevierStylePara elsevierViewall">Another highlight is the difference in the mean values of the heuristic &#8220;<span class="elsevierStyleItalic">22 &#8211; Aesthetics&#8221;</span>&#46; Group I&#39;s mean values were higher than for Group II&#44; which demonstrates that users attributed more importance to this specific heuristic than AT development professionals&#46; This result is corroborated with the research findings by Ref&#46;&#44;<a class="elsevierStyleCrossRef" href="#bib0290"><span class="elsevierStyleSup">28</span></a> which emphasize the difference in perception between AT professionals and users regarding esthetic aspects and use in AT devices&#8217; public or family environment&#46;</p><p id="par0110" class="elsevierStylePara elsevierViewall">Also&#44; the difference in the results presented in <a class="elsevierStyleCrossRef" href="#tbl0010">Table 2</a> suggests the importance of the user&#39;s opinion on the usability aspects of EPW to ensure a UCD&#46; This finding highlights the need to include the user&#39;s point of view in an AT device&#39;s usability evaluation criteria&#46; Besides&#44; this fact demonstrates the importance of the agreement between TA professionals and consumers about using the TA device to increase their acceptance by the user&#46; When the EPW is developed according to user expectations&#44; user satisfaction will increase&#46;<a class="elsevierStyleCrossRef" href="#bib0295"><span class="elsevierStyleSup">29</span></a></p><p id="par0115" class="elsevierStylePara elsevierViewall">In summary&#44; in this research we proposed a set of heuristics to evaluate the usability of EPW driven by eye tracking and presented a preliminary study&#46; However&#44; further studies are needed to validate this proposal&#44; measure its effectiveness and extend it to EPWs controlled by other alternative commands&#46; Nevertheless&#44; the set of heuristics in this study can contribute to other studies that can adapt them to other mobility AT devices&#8217; usability evaluation&#46;</p><p id="par0120" class="elsevierStylePara elsevierViewall">Nonetheless&#44; a limitation of this study&#44; it is essential to underscore that this research relied on a compilation of heuristics found in the existing literature&#46; In addition&#44; this study lies in the relatively small number of research participants&#44; comprising 28 EPW users and 26 AT developers&#44; as well as the utilization of a singular type of EPW for evaluation&#46; In order to enhance the accuracy of the research findings&#44; it is imperative to employ the set of heuristics with a more extensive participant pool encompassing both groups&#46; Furthermore&#44; it would be beneficial to apply these heuristics to diverse EPWs operated through various alternative commands&#44; such as eye tracking or voice commands&#44; among others&#46;</p></span><span id="sec0060" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0120">Conclusion</span><p id="par0125" class="elsevierStylePara elsevierViewall">Although there are several usability evaluation methods&#44; heuristic evaluation can also be a new approach to perform usability evaluation of EPW&#46; This study proposed a set of 25 heuristics to evaluate the usability of EPW and help developers work according to the UCD and reach the user&#39;s needs and expectations&#46; We performed the rating of the importance of heuristics for evaluating the EPW with 54 participants&#58; 28 EPW users &#40;Group I&#41; and 26 AT developers &#40;Group II&#41;&#46; We found a significant difference between AT users and development professionals&#8217; opinions on the rating of 16 of 25 heuristics&#46;</p><p id="par0130" class="elsevierStylePara elsevierViewall">Our findings suggest that users&#8217; opinions are indispensable during the steps of the UCD of an EPW&#46; Additionally&#44; this result reinforces our initial hypothesis&#44; based on users&#8217; and developers&#8217; opinion&#44; that it is possible to identify specific heuristics to evaluate the usability of EPW&#46; It could help a fair technology evaluation matching the user&#39;s needs and expectations&#46; Therefore&#44; as a scientific contribution of this study&#44; we furnish a more solid basis for subsequent research in the particular domain of using heuristics for evaluating the usability of EPWs&#46;</p><p id="par0135" class="elsevierStylePara elsevierViewall">As future work&#44; further studies are needed to validate and evaluate the effectiveness of the proposed set of heuristics to evaluate the usability of EPW&#46; Also&#44; further research may adapt our set of heuristics to apply in evaluating the usability of other devices&#46;</p></span><span id="sec0065" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0125">Authors&#8217; contributions</span><p id="par0140" class="elsevierStylePara elsevierViewall">LRG supervised the experiments and wrote the first draft of the manuscript&#46; ELMN supervised&#44; revised&#44; and gave the final approval of the manuscript&#46; AARS has been involved in drafting the manuscript and revising it critically for important intellectual content and final approval of the published version&#46; All authors read and approved the final manuscript&#46;</p></span><span id="sec0070" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0130">Ethics approval</span><p id="par0145" class="elsevierStylePara elsevierViewall">Approved by the Ethics Committee from the Federal University of Uberlandia &#8211; Brazil&#46; Prot&#46; Number&#58; CEP&#47;UFU 37756614&#46;0&#46;0000&#46;5152&#46;</p></span><span id="sec0075" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0135">Consent to participate</span><p id="par0150" class="elsevierStylePara elsevierViewall">Informed consent document was signed by participants and approved by the Ethics Committee from the Federal University of Uberlandia &#8211; Brazil&#46; Prot&#46; Number&#58; CEP&#47;UFU 37756614&#46;0&#46;0000&#46;5152&#46;</p></span><span id="sec0080" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0140">Patients consent</span><p id="par0155" class="elsevierStylePara elsevierViewall">The authors declare that they obtained the patient&#39;s consent for publication of the article&#46;</p></span><span id="sec0085" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0145">Funding</span><p id="par0160" class="elsevierStylePara elsevierViewall">This study was financed in part by the <span class="elsevierStyleGrantSponsor" id="gs1">Coordena&#231;&#227;o de Aperfei&#231;oamento de Pessoal de N&#237;vel Superior &#8211; Brazil &#40;CAPES&#41;</span>&#46; Finance code 001&#46;</p></span><span id="sec0090" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0150">Conflict of interest</span><p id="par0165" class="elsevierStylePara elsevierViewall">The authors declare that they have no conflict of interest&#46;</p></span></span>"
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    "fechaAceptado" => "2023-10-23"
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            0 => "Assistive technology"
            1 => "Heuristics"
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            0 => "Tecnolog&#237;a asistencial"
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        "titulo" => "Abstract"
        "resumen" => "<span id="abst0005" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0010">Objective</span><p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">An important issue related to electric powered wheelchair &#40;EPW&#41; is usability&#46; Recent studies did not use heuristic evaluation and did not consider users&#8217; and developers&#8217; participation in the usability evaluation process of the EPW&#44; especially when it has to be driven using alternative commands&#46; Thus&#44; this study investigates the use of heuristics to evaluate the usability of EPW driven by alternative commands&#44; considering the opinion of users and assistive technology &#40;AT&#41; development professionals&#46;</p></span> <span id="abst0010" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0015">Methods</span><p id="spar0010" class="elsevierStyleSimplePara elsevierViewall">The study was carried out with 54 participants&#58; 28 EPW users &#40;Group I&#41; and 26 AT developers &#40;Group II&#41;&#46; We built a set of 25 heuristics that affects EPW usability&#46; Participants rated each of the 25 heuristics according to their importance for the usability of EPW using the five-point Likert scale&#46; We used the R Software to perform the Wilcoxon Mann&#8211;Whitney test as a statistical comparisons test between Group I and II&#46;</p></span> <span id="abst0015" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0020">Results</span><p id="spar0015" class="elsevierStyleSimplePara elsevierViewall">The results showed a statistically significant difference &#40;<span class="elsevierStyleItalic">p</span><span class="elsevierStyleHsp" style=""></span>&#60;<span class="elsevierStyleHsp" style=""></span>0&#46;05&#41; between Group I and II in the evaluation of 16 heuristics&#46; We identified an important set of heuristics that could help evaluate and improve the usability of EPW&#46;</p></span> <span id="abst0020" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0025">Conclusion</span><p id="spar0020" class="elsevierStyleSimplePara elsevierViewall">The findings highlighted the importance of considering users&#8217; and developers&#8217; points of view in developing an EPW and its evaluation criteria&#46; It could help the design of the device match the user&#39;s needs and expectations&#46; The set of heuristics in this study can be adapted to evaluate other devices&#8217; usability using the heuristic evaluation approach&#46;</p></span>"
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        "resumen" => "<span id="abst0025" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0035">Objetivo</span><p id="spar0025" class="elsevierStyleSimplePara elsevierViewall">La usabilidad es una cuesti&#243;n importante relacionada con las sillas de ruedas el&#233;ctricas &#40;SRE&#41;&#46; Los estudios recientes no han utilizado evaluaciones heur&#237;sticas ni han contemplado la participaci&#243;n de los usuarios y desarrolladores en el proceso de evaluaci&#243;n de dichas sillas&#44; especialmente cuando deben conducirse utilizando comandos alternativos&#46; Por ello&#44; este estudio investiga el uso de la heur&#237;stica para evaluar la usabilidad de las SRE impulsadas por comandos alternativos&#44; considerando la opini&#243;n de los usuarios y los profesionales del desarrollo de la tecnolog&#237;a asistencial &#40;TA&#41;&#46;</p></span> <span id="abst0030" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0040">M&#233;todos</span><p id="spar0030" class="elsevierStyleSimplePara elsevierViewall">El estudio se realiz&#243; con 54 participantes&#58; 28 usuarios de SRE &#40;Grupo I&#41; y 26 desarrolladores de TA &#40;Grupo II&#41;&#46; Construimos un conjunto de 25 heur&#237;sticas que afectan a la usabilidad de las SRE&#46; Los sujetos calificaron cada una de las 25 heur&#237;sticas de acuerdo con su importancia para la usabilidad de las SRE utilizando la escala de Likert de cinco puntos&#46; Utilizamos el <span class="elsevierStyleItalic">software</span> R para realizar la prueba de <span class="elsevierStyleItalic">Wilcoxon-Mann-Whitney</span> como prueba de comparaci&#243;n estad&#237;stica entre los Grupos I y II&#46;</p></span> <span id="abst0035" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0045">Resultados</span><p id="spar0035" class="elsevierStyleSimplePara elsevierViewall">Los resultados reflejaron una diferencia estad&#237;stica significativa &#40;p &#60; 0&#44;05&#41; entre los Grupos I y II en la evaluaci&#243;n de las 16 heur&#237;sticas&#46; Identificamos un conjunto importante de heur&#237;sticas que podr&#237;an ayudar a evaluar y mejorar la usabilidad de las SRE&#46;</p></span> <span id="abst0040" class="elsevierStyleSection elsevierViewall"><span class="elsevierStyleSectionTitle" id="sect0050">Conclusi&#243;n</span><p id="spar0040" class="elsevierStyleSimplePara elsevierViewall">Los hallazgos subrayaron la importancia de estimar los puntos de vista de los usuarios y desarrolladores a la hora de desarrollar una SRE&#44; as&#237; como sus criterios de evaluaci&#243;n&#46; Estos podr&#237;an contribuir a que el dise&#241;o del dispositivo coincidiera con las necesidades y expectativas de los usuarios&#46; El conjunto de heur&#237;sticas de este estudio puede adaptarse&#44; para evaluar la usabilidad de otros dispositivos&#44; utilizando el enfoque de evaluaci&#243;n heur&#237;stica&#46;</p></span>"
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                  \t\t\t\t">1&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">Interaction and comfort&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">The technology should have an adaptable interface by prioritizing the increase of user interaction and comfort&#46;&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175"><span class="elsevierStyleSup">5&#44;18&#44;22</span></a>&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">2&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">Portability&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t  " align="left" valign="\n
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                  \t\t\t\t">The system should run on different hardware or software platforms&#46;&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260"><span class="elsevierStyleSup">22</span></a>&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">3&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">Integration&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">The technology should be versatile and work with other devices and systems that the user already uses&#46;&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260"><span class="elsevierStyleSup">22</span></a>&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">4&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
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                  \t\t\t\t">Autonomy in the system startup&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">The users should have the ability to boot the system without needing extra help&#46;&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t\ttable-entry\n
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                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260"><span class="elsevierStyleSup">22</span></a>&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">5&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
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                  \t\t\t\t">Autonomy in the system operation&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260"><span class="elsevierStyleSup">22</span></a>&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">6&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t">The users should have the freedom to choose tasks when appropriate&#46;&nbsp;\t\t\t\t\t\t\n
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                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">7&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Feedback&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should provide users with information about its performed activities&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235"><span class="elsevierStyleSup">17</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">8&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Esthetic and minimalist design&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should present accurate information in a clear and objective format&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235"><span class="elsevierStyleSup">17</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">9&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Minimize user memory overhead&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The interface should display dialog elements intuitively so that users can make choices without memorizing specific commands&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0235"><span class="elsevierStyleSup">17&#44;18&#44;20</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">10&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Ensure that the interface does not have a physical form that can cause injury&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should prevent any type of injury that might cause danger to the user&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250"><span class="elsevierStyleSup">20&#44;22&#44;30</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">11&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Ensure that the interface does not have behaviors that can cause injury&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The interface should prevent any unintentional damage to the user&#46; It should prevent fatigue to the user sensory capacity&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250"><span class="elsevierStyleSup">20&#44;22</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">12&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Provide mechanisms that do not failProvide fail-safe mechanisms&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should provide an accessible emergency exit that overrides the device&#39;s actions and displays information about device damage without actively or passively harming the user&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0250"><span class="elsevierStyleSup">20</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">13&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Safety and reliability&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should predict and avoid errors to encourage user confidence&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175"><span class="elsevierStyleSup">5&#44;20</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">14&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Prevent errors&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should identify the situations that can cause more errors and then modify itself so that these errors do not occur and disturb the user&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235"><span class="elsevierStyleSup">17</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">15&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Minimize process length&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should have automated steps to avoid repetitive user tasks&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0240"><span class="elsevierStyleSup">18&#44;20</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">16&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Flexibility and efficiency of use&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should have automated steps to avoid repetitive user tasks&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0240"><span class="elsevierStyleSup">18&#44;20</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">17&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Ability to choose between access devices&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Interactions so that the user can choose according to his or her preference and ability&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0250"><span class="elsevierStyleSup">20&#44;22</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">18&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Customizing the interface and memorizing user preferences in the system&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should allow the user to customize the interface&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0250"><span class="elsevierStyleSup">20</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">19&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Response time&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should simplify user input by generating quick and adequate responses that do not disturb other activities&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0260"><span class="elsevierStyleSup">22</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">20&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The combination between the system and the real world&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should explore the environment and use appropriate language to facilitate user understanding&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0235"><span class="elsevierStyleSup">17&#44;18&#44;20&#44;30</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">21&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Consistency&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The system should standardize commands to perform the same action in the same place every time to avoid doubt or user uncertainty&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRef" href="#bib0235"><span class="elsevierStyleSup">17</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">22&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Esthetic&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The technology should present a consistent set of shape&#44; weight&#44; and size options that do not embarrass the user&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175"><span class="elsevierStyleSup">5&#44;22&#44;30</span></a>&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td></tr><tr title="table-row"><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="char" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">23&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">Accessibility and support&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t">The developers or people who prescribed and&#47;or sell the technology should provide adequate support and training to ease technology&#46;&nbsp;\t\t\t\t\t\t\n
                  \t\t\t\t</td><td class="td" title="\n
                  \t\t\t\t\ttable-entry\n
                  \t\t\t\t  " align="left" valign="\n
                  \t\t\t\t\ttop\n
                  \t\t\t\t"><a class="elsevierStyleCrossRefs" href="#bib0175"><span class="elsevierStyleSup">5&#44;22&#44;30</span></a>&nbsp;\t\t\t\t\t\t\n
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