. Author manuscript; available in PMC: 2024 Aug 1.

Published in final edited form as: IEEE Trans Robot. 2023 May 26;39(4):3332–3346. doi: 10.1109/tro.2023.3272846

TABLE VI.

Videos coding for the participant’s interaction with the robot during RMRT for Participant P2

Topic	Behavior	N _occur	Note
1^st topic	Confusion	2	First time to use the RMRT, confused about next step.
1^st topic	Dysfunction in tapping NEXT	1	P2 with a shaking hand
2^nd topic	Success in choosing a topic	1
	Failure in voice control	1
	Laughter	1	Although the robot did not respond successfully
	Success in tapping NEXT
	Dysfunction in tapping NEXT	1	Due to the shaking hand.
	Success in tapping MAIN MENU	1
3^rd topic	Success in choosing a topic	1
	Laughter	1
	Success in tapping NEXT
	Dysfunction in tapping NEXT	1	Due to the shaking hand.
	Success in tapping MAIN MENU	1
4^th topic	Success in choosing a topic	1
	Success in tapping NEXT
	Not answering but directly tap NEXT	1
	Forgetting tapping NEXT	1

Here the voice control was the voice input “Tammy next”.