Single-Switch User Interface for Robot Arm to Help Disabled People Using RT-Middleware

Table 1

Comments by subjects.

	Subject A	Subject B
Evaluations of easiness of operations	At first I was afraid that it may be difficult to control the robot. I feel easier to use it.	When the new robot will appear with this interface, I want to use them very much.
		This robot will be much better than to call a helper.
	Configuration of the button on the panel seems good, but the contents of the button are difficult to understand.	I want to configure the scanning speed. The scanning can be continued anytime.
Evaluations and desire about the panel	Scanning of the button should start at the beginning of the list when the scanning restarts.	The number of the buttons on the panel seems to be necessary and sufficient.
		If I can select one of the many types of the panels, it seems preferable.
	The scanning should be stopped unless the user wants to use this interface.	Beep sound at scanning of button is preferable.
Request about safety	I want the emergency stopping button to push the single switch for a long time or in the panel	It is better for me if the single switch involves emergency stopping function.
		If the system can find the freezing of the computer and let the robot stop, I can feel safer.