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. 2021 Dec 23:1–18. Online ahead of print. doi: 10.1007/s10055-021-00607-1

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© The Author(s) 2021

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 4 — A: tutorial level (left) A1: assistant robot, A2: test bench where the user places the different computer elements, A3: Board showing the main information of the grabbed component. B: assignment level (right). B4: information location that shows relevant characteristics of the hardware, B5: board with the requested requirements, B6: variety of hardware and cage in which to place it