Jou nal o Technology and Science Educa ion
JOTSE, 2023 – 13(1): 65-72 – Online ISSN: 2013-6374 – P in ISSN: 2014-5349
h ps://doi.o g/10.3926/jo se.1349
MECHATRONIC SYSTEM USABILITY EVALUATION
Apos olos Tsaga is
In e na ional Hellenic Uni e si y (G eece)
sag[email p o ec ed]
Recei ed June 2021
Accep ed July 2022
Abs ac
This s udy aimed o e ine and alida e a Mecha onic Sys em Usabili y E alua ion (MSUE) ques ionnai e.
A o al o 626 use s we e selec ed using andom sampling, om he a ea o Wes Thessaloniki, G eece.
The alidi y o he ques ionnai e we e es ed wi h he con en and cons uc ion alidi y me hod. The
eliabili y o he MSUE ques ionnai e ins umen we e es ed using es - e es and in e nal consis ency
me hod. Fac o analysis esul ed a 25 ques ions ques ionnai e di ided in o i e axes o , namely e iciency,
e ec i eness, Sa is ac ion, ease o use, and ease o lea n. The C onbach Alpha coe icien o he en i e
scale was 0.819. The ques ionnai e was es ed and he esul s was shown a sui able ins umen o measu e
usabili y on mecha onic sys ems.
Keywo ds –
Usabili y, Mecha onic sys ems, E iciency, Sa is ac ion, E ec i eness, Easy o use.
To ci e his a icle:
Tsaga is, A. (2023). Mecha onic sys em usabili y e alua ion. Jou nal o Technology and Science Educa ion,
13(1), 65-72. h ps://doi.o g/10.3926/jo se.1349
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1. In oduc ion
The pu pose o he p esen esea ch is o c ea e and alida e a weigh ed ques ionnai e ha measu es he
usabili y o he in e ac ion wi h mecha onic sys ems. Mecha onics is he in eg a ion o mechanical,
elec ical, and compu e echnologies in o he design o complex p oduc s (Figu e 1). I is a combina ion
o p ecision mechanical enginee ing, elec onic, con ol enginee ing and compu e s o he in elligen
con ol o machines. Is he p ocess whe e an in eg a ed de elopmen o he enginee ing design is
pu chased: The o m o mode n au oma ion sys ems.
Mecha onics sys em is any elec omechanical sys em ha combines elemen s om elec onic de ices and
he con ol is done wi h he help o so wa e. I usually includes a mic ocon olle , senso s, ac ua o s and
he necessa y so wa e o con ol hem. Many imes i has a specially designed in e ace o con ol ei he
h ough a PC o h ough special consoles. The mic ocon olle unde akes he p ocessing o he signals
collec ed by he a ious senso s. The collec ion and he acquisi ion o he signals h ough he senso s is a
key pa o he sys em. They a e hen p ocessed o gi e he app op ia e in o ma ion o he sys em by
pe o ming a ious con ol ac ions.
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Figu e 1. Mecha onic diag am
A mecha onic sys em is use ul when i has a high deg ee o usabili y. When he in e ace is no easy o
use, he use does no ocus on he con en o he in e ac ion, bu on he way o in e ac wi h he sys em
and ha is no good o he esul o he p ocess (Luo, Liu, Kuo & Yuan, 2014).
Sea ching in he li e a u e one will ind nume ous de ini ions o usabili y. As is men ioned in a ious
esea ch and in in e na ional s anda ds, usabili y e e s o e iciency and e ec i eness in achie ing speci ic
goals and use sa is ac ion (Cha ziky kou, 2020). No e ha he de ini ions o usabili y mos o en e e o
Human Compu e In e ac ion o Human Robo ic In e ac ion o Human Machine In e ac ion. I is he
i s ime speaking o Human Mecha onic Sys em In e ac ion. This can be done wi h a combina ion o
he abo e echniques, because mecha onic sys ems a e a combina ion o he abo e a eas.
Acco ding o a ious de ini ions:
“Usabili y is he deg ee o which a p oduc o sys em can be used by speci ic use s o achie e speci ic goals wi h
e iciency, e ec i eness and sa is ac ion in a pa icula con ex o use” (ISO 9241)
The main dimensions o usabili y examined in he li e a u e o in e ac ion wi h compu e s, machines o
obo ics include ease o lea ning (Nielsen, 1990; Guilleme e, 1995), ease o use (Nielsen, 1990;
Guilleme e, 1995), u ili y (Guilleme e, 1995), use sa is ac ion (Nielsen, 1993), e iciency (Pa sazadeh e
al., 2018) and e iciency (Pa sazadeh, Ali, Meh an & Teh ani, 2018).
Acco ding o ISO 9241 (E gonomics o Human-Sys em In e ac ion), usabili y is de ined as “ he ex en o
which a p oduc o sys em can be used by designa ed use s o achie e speci ic goals wi h e iciency,
e ec i eness and sa is ac ion, in a speci ic con ex o use” (ISO 9241-210). The indi idual c i e ia
men ioned in i , a e analyzed in he ease o lea ning, in he high e iciency o execu ion, in he low
equency o use e o s, in he ease o e aining he knowledge o i s use and in he subjec i e use
sa is ac ion (A ou is, Ka sanos, Tselios & Mous akas, 2015).
Dix, Finlay, Abowd and Beale (2004) in hei book “Human-Compu e In e ac ion” (3 d edi ion) conside
usabili y o be a complex concep and analyze i in ease o lea ning, lexibili y, and obus ness
(Kou sambasis, 2015). Shneide man and Pleasan (2009), in hei book “Designing he Use In e ace”
(5 h edi ion) de ine usabili y as he sum o he ollowing measu es (o me ics): ime o lea n, speed o
pe o mance, a e o e o s by use s, e en ion o e ime and subjec i e sa is ac ion (Kou sambasis, 2015).
Acco ding o A ou is, he e alua ion o he usabili y o a sys em includes he analysis o he
cha ac e is ics o he sys em in ela ion o a ce ain con ex o use, he analysis o he in e ac ion p ocess
and he analysis o e iciency, e ec i eness and use sa is ac ion (A ou is e al., 2015).
Al hough he e a e many esea ch on he usabili y o human compu e in e ac ion, human machine
in e ac ion and human obo in e ac ion, he e is no men ion on he usabili y o human mecha onic
sys em in e ac ion, because he e m mecha onic sys em is new, is used he las yea s and combines
di e en kind o echnologies, which includes pa o echnologies men ioned abo e. This esea ch
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examines he “usabili y” o a mecha onic sys em in e ms o e iciency, e ec i eness, Sa is ac ion, ease
o use, and ease o lea n [8, 9, 10]. (A ou is e al., 2015; Kou sambasis, 2015; Lund, 2001).
The e ec i eness o a mecha onics sys em depends on he deg ee o which a sys em achie es i s goals.
Use e ec i eness is de ined as he accu acy and comple eness wi h which use s achie e hei goals using
he sys em. I e lec s he use 's abili y o use he sys em e ec i ely and is ela ed o his desi e o use i .
This ac o is in luenced by o he ac o s, such as he suppo and managemen o he sys em, he ease o
use o he sys em and he quali y o he se ices i p oduces. I is a powe ul ac o o sa is ac ion. In
o he wo ds, e ec i eness e e s o he ex en o which use s' objec i e goals a e me . The e m
e ec i eness is de ined as he p ope y, o abili y o deli e an expec ed esul . E iciency mainly conce ns
he in e nal unc ion o he in e ac ion and exp esses he esou ces consumed o achie e a esul . How
easily o di icul ly one can achie e he desi ed esul and how many esou ces will be consumed o
achie e his. The sa is ac ion conce ns he subjec i e eeling ha he use de i es om i s use. Ease o use
is he abili y o inexpe ienced use s o be able o use he sys em wi hou special knowledge. The in ui ion
o he sys em ha allows hem o make use o i wi hou being pa icula ly knowledgeable also plays an
impo an ole in achie ing his goal. Lea nabili y is he abili y o no ice use s o unde s and how o use
he sys em and how o ge an ini ial le el o good pe o mance. I includes he indi idual p ope ies:
p edic abili y, syn hesizabili y, amilia i y, gene alizabili y and consis ency (Kou sambasis, 2015).
The s uc u e o he pape includes he sec ion 2 wi h he me hodology o ques ionnai e design, he
sec ion 3 wi h he ques ionnai e de elopmen , sec ion 4 wi h he e alua ion o he sec ion 5 wi h he
cons uc ion o he ques ionnai e and inally he conclusions whe e he esea che summa izes he esul s
o he wo k desc ibed in he pape .
2. Me hodology o Ques ionnai e Design
The de elopmen o he ques ionnai e includes se e al s ages. Αs desc ibed in igu e 2 includes he design
o he ques ionnai e, he de elopmen o he ques ionnai e, he e alua ion o he ques ionnai e and he
inal cons uc ion o he ques ionnai e (Figu e 2).
Figu e 2. Ques ionnai e De elopmen Me hodology
Ques ionnai e weigh ing includes pilo applica ion, alida ion and eliabili y check and ela ed
adjus men s / imp o emen s. I is necessa y o conduc a pilo s udy wi h a ela i ely small numbe o
pa icipan s (app oxima ely 30-50), in o de o make a p elimina y assessmen o he alidi y and eliabili y
o he ques ionnai e and o co ec as many e o s and omissions as possible. The co ec ed ques ionnai e
is hen subjec ed o a inal alidi y and eliabili y es , h ough a new pilo s udy.
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Validi y is he ideli y wi h which he a ibu e we wan o measu e coun s, while eliabili y is he accu acy
wi h which a ques ionnai e measu es an a ibu e. The alidi y o a measu emen scale, in simple wo ds,
e e s o he deg ee o which wha i was made o measu e ac ually coun s. The e a e many ypes o
alidi y. In he p esen s udy, con en alidi y and cons uc alidi y will be examined (Galanis, 2013).
Con en alidi y e e s o he ex en o which a scale o measu emen measu es he o al o he eques o
which i has been made. Du ing he p ocess o assessing he alidi y o he con en , a eco d is made o
he da a ela ed o he speci ic concep examined in a ques ion. F om all hese da a, he mos ele an ones
a e selec ed. The au ho s o he ques ionnai e ask a p e-selec ed eam o expe s o judge each i em o he
ques ionnai e as “necessa y”, “use ul, bu no necessa y” o “necessa y”, and hen calcula e he “Con en
Validi y Ra io” o each i em in he ques ionnai e, acco ding o he ollowing equali y Validi y is he ideli y
wi h which he a ibu e we wan o measu e coun s, while eliabili y is he accu acy wi h which a
ques ionnai e measu es an a ibu e.
(1)
In he equa ion, N o an i em (eg ques ion) symbolizes he o al numbe o expe s who judge he
ques ionnai e i ems and ne symbolizes he numbe o expe s who cha ac e ize he speci ic i em in he
ques ionnai e as “necessa y”. When he con en alidi y a io o an elemen o a ques ionnai e is equal o 0,
hen hal o he expe s conside his elemen as “necessa y”. When he con en alidi y a io o an i em in a
ques ionnai e is > 0, hen mo e han hal o he expe s conside his i em o be “ equi e”. When he con en
alidi y a io o an i em in a ques ionnai e is <0, hen less han hal o he expe s conside his i em o be
“ equi ed”. 10 expe s a e used in his esea ch. Acco ding o Galanis (2013) he minimum con en alidi y a io
ha an i em mus ha e in o de o be included in he ques ionnai e is 0.62 (Galanis, 2013).
Cons uc alidi y e e s o he deg ee o which a scale o measu emen accu a ely measu es he meaning
we ha e de ined as measu ing. I is o some ex en subjec i e and he e o e equi es a signi ican numbe
o s udies o be conduc ed in di e en coun ies, in di e en s udied popula ions and a di e en imes.
In he p esen esea ch, he con ol o he alidi y o a concep ual cons uc ion is achie ed by ac o
analysis (Pe ei a, Maia, Ma ques, Bos, Soa es, Gomes e al., 2008).
The eliabili y o , in o he wo ds, he accu acy o a ques ionnai e e e s o he s abili y o , in o he wo ds,
o he consis ency wi h which he ques ionnai e measu es he meaning o he a iable ha i claims o
measu e. Inc easing he eliabili y o a ques ionnai e means educing he andom e o . We mus keep in
mind ha eliabili y e e s o he esul s o measu ing a scale and no o he scale i sel . This means ha
eliabili y is in luenced by he subjec s o he esea ch ( o example by he esponden s) and by he
measu emen p o ocol. The e o e a scale can be eliable in one applica ion a ea and un eliable in ano he .
The e a e di e en ypes o eliabili y and i s e alua ion in his esea ch o check he eliabili y o epe i i e
measu emen s o con ol - es ( e es ) and he eliabili y o in e nal consis ency (in e nal consis ency). In he
eliabili y es wi h he me hod o epe i i e measu emen s ( es - e es ) we apply, a o he imes, he scale
wice o he same people, unde he same condi ions and inally we check he s a is ical co ela ion be ween
he wo sco es. Calcula e he coe icien (Pea son coe icien ) o es - e es .
In he con ol o eliabili y wi h he me hod o in e nal consis ency (in e nal consis ency) he
homogenei y o he ques ions o he scale is e alua ed. We apply he scale once because he answe s a e
no bina y bu mo e, we use C onbach's alpha. I he coe icien is <0.7 he in e nal consis ency eliabili y
is ques ionable, while i i is> 0.7 i is accep able. O cou se, he highe he eliabili y (Galanis, 2013).
3. Ques ionnai e De elopmen
The s udy was conduc ed in wo s ages conce ning he de elopmen o he s anda d esea ch ool and
da a collec ion. As he wo k aims o collec da a o he alida ion o he esea ch ool, da a we e collec ed
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om 626 mecha onics sys em use s. The use in ol ed an ATM wi hd awal sys em ha is known o many
people. Simila s udies ha e shown ha he sample size is sa is ac o y (Hai , Ande son, Ta ham, Black,
1998; Go such, 1983; Kline, 1979)
An ATM is simply a e minal wi h wo inpu de ices (ca d eade , keyboa d) and ou ou pu de ices
(mic ophone, moni o , eceip p in e , slo and cash dispense ). These de ices a e connec ed o he
p ocesso which is he hea o he ATM. All ATMs wo ldwide a e based on a cen al da abase sys em and
o his eason he ATM communica es wi h he cen al p ocesso (se e ) which in u n communica es
wi h he in e ne se ice p o ide (ISP) which is he b idge h ough which All ATMs a e a ailable o he
ca dholde . When he use wan s o make a ansac ion, he p o ides he necessa y in o ma ion h ough his
ca d, which is “ ead” by he buil -in ca d eade , and h ough he keyboa d, which selec s he ype o
se ice he needs. The ATM o wa ds his in o ma ion o he se e whe e i ans e s he use 's eques o
he espec i e bank. In case o wi hd awal o deposi , he bank sub ac s o adds he equi ed amoun
om he use and communica es wi h he ATM p ocesso o comple e he ansac ion h ough he
cash- ecei e .
To pilo he ques ionnai e, a pilo applica ion was implemen ed wi h a ela i ely small numbe o
pa icipan s (25 people) and a p elimina y assessmen o he alidi y and eliabili y o he ques ionnai e
was ca ied ou , co ec ing as many e o s and omissions as possible. Some co ec ions we e made
ega ding he comp ehension and co ec wo ding o he ques ions, he de e mina ion o he app op ia e
ime o comple e, he in e es o he esponden s and he o e all appea ance. The co ec ed ques ionnai e
was hen subjec ed o a inal alidi y and eliabili y check.
4. E alua ion o Ques ionnai e
Validi y included alidi y o con en and alidi y o concep ual cons uc ion. In Con en Validi y, a
p e-selec ed eam o 10 expe s was asked o a e each ques ion in he ques ionnai e as “necessa y”,
“use ul bu no necessa y” o “unnecessa y”. The “Con en Validi y Ra io” was hen calcula ed o each
ques ion acco ding o equa ion 1.
Ques ions answe ed as equi ed wi h a alidi y a io o > 0.62 we e e ained and inco po a ed in o he
p oposed usabili y assessmen ques ionnai e. Those deemed necessa y wi h a alidi y a io o <0.62, o
deemed use ul bu unnecessa y o unnecessa y we e disca ded and dele ed om he ool (Galanis, 2013).
In he nex phase, he alidi y o he concep ual cons uc ion was e alua ed. Fac o analysis was used
since he da a had many dimensions (scale 1-5). Applying ac o analysis o he da a o a ques ionnai e, 5
ac o s eme ged ha exp ess indi idual dimensions o he concep measu ed by he s udy ques ionnai e.
These ac o s eme ged based on he co ela ions p esen ed be ween he a ious elemen s o he
ques ionnai e. Thus, a b oad concep was simpli ied and g ouped in o indi idual pa s o make i clea e .
Table 1 below shows he ques ions and ac o s.
By examining each ac o i em acco ding o he model and li e a u e amewo k, i ems unde ac o 1 can
be placed unde he aspec o e iciency, ac o 2 unde he aspec o e ec i eness, ac o 3 unde he
aspec o Sa is ac ion, ac o 4 unde he aspec o ease o use and ac o 5 unde ease o lea n. I ems
loaded om each o he i e componen s ha e s ong, clea , and concep ual links.
In o de o analyse he alid i ems o each componen , a Kaise –Meye –Olkin (KMO) es and Ba le ’s
es o sphe ici y ha e been ca ied ou . Table 2 shows ha he KMO es esul ed in a alue o 0.916.
This alue exceeded he ecommended alue o 0.6 (Kaise , 1970; Kaise , 1974), indica ing ha he
sample was adequa e o es he ac o analysis.
The es - e es me hod was used o check he eliabili y. Thus, he s abili y o he answe s was e alua ed.
The same scale was applied wi h a ime di e ence o 15 days o he same indi iduals (20 indi iduals)
unde he same condi ions and he s a is ical co ela ion be ween he alues o he esponses was checked.
The pea son coe icien calcula ed was 0.923 which means a e y la ge co ela ion.
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Ques ions
Fac o s
1 2 3 4 5
Q1 The design o in e ac ion is simple wi h he essen ials. 0.847
Q2 The esponse speed o he sys em is sa is ac o y. 0.783
Q3 The execu e o he command is accu a ely. 0.821
Q4 The In e ac ion is comple e. 0.904
Q5 I wo ks as expec ed. 0.791
Q6 The gi en in o ma ion by he in e ace is sa is ac o y. 0.837
Q7 The in e ac ion is easy. 0.868
Q8 A wide ange o commands is co e ed. 0.793
Q9 The e is eedom o mo emen by he use . 0.862
Q10 The change o command is easy. 0.848
Q11 The e is lexibili y in in e ac ion. 0.786
Q12 The use p o ides sa is ac ion. 0.846
Q13 I is lexible in he choice o mo emen s. 0.831
Q14 In e ac ion is no a ec ed by en i onmen al condi ions. 0.871
Q15 The equipmen does no make mo emen s di icul . 0.823
Q16 Ope a ing he sys em is no edious. 0.799
Q17 Commands a e easy o emembe . 0.841
Q18 I is easy o use. 0.787
Q19 I is no edious o use. 0.773
Q20 No mis akes a e made du ing he in e ac ion. 0.826
Q21 I lea ned o use i quickly. 0.707
Q22 I easily emembe how o use i . 0.841
Q23 I quickly became a capable use . 0.785
Q24 I is easy o lea n. 0.837
Q25 I has no di icul unc ions. 0.773
Table 1. P incipal Componen Analysis
Tes Value
Kaise -Meye -Olkin Adequacy Sampling Measu e 0.916
Ba le ’s Tes o Sphe ici y
App ox. Chi-Squa e 5135.417
d 190
Sig. .000
Table 2. Kaise –Meye –Olkin (KMO) and Ba le ’s es .
Ques ions Fac o C onbach Alpha
Q1 - Q5 E iciency 0.829
Q6 - Q9 E ec i eness 0.840
Q10 - Q13 Sa is ac ion 0.828
Q14 - Q20 Ease o Use 0.817
Q21 - Q25 Ease o Lea n 0.789
Table 3. C onbach Alpha
The in e nal consis ency eliabili y was hen checked by calcula ing he C onbach alpha coe icien . The
coe icien was calcula ed a 0.819 o he whole ques ionnai e, while o each axis sepa a ely he
coe icien alues a e shown in Table 3.
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In all cases we see ha we ha e alues g ea e han 0.78 and in some alues hey each up o 0.84. This
means ha he ques ions ha e a e y high in e nal cohe ence bo h in each axis and in he o e all
ques ionnai e.
As can be seen om he analysis o he alidi y and eliabili y o he ques ionnai e, i can be concluded
ha is a ool ha can be used o measu e he usabili y o he in e ac ion.
5. Ques ionnai e Cons uc ion
The ques ionnai e s a s wi h a epo on he de ails o he su ey. I consis s o wo pa s, one e e ing
o he gene al in o ma ion o he pa icipan s and he o he o he de ails o he usabili y assessmen .
In he gene al ques ions he pa icipan s we e asked abou hei gende , age and educa ional le el. These
da a a e c ucial in o ma ion o he esul s o he esea ch, hus iden i ying he independen a iables o
he esea ch. The second pa ques ions e e o he de ails o he e alua ion o he usabili y o
mecha onic sys ems di ided in o he 5 axes analyzed abo e. The ques ionnai e was cons uc ed using a
i e-poin Like scale anging om 1 (s ongly disag ee) o 5 (s ongly ag ee).
The ques ions Q1-Q5 e e s o E iciency and Q6-Q9 o he E ec i eness. The Q10-Q13 e e s o he
Sa is ac ion, while he ques ions Q14-Q20 e e s o he Ease o Use. Finally he ques ions Q21-Q25 e e s
o Ease o Lea n.
6. Conclusions
This pape p esen s he cons uc ion and es ing o a ques ionnai e ha can be used o assess usabili y in
in e ac ion wi h mecha onic sys ems. Combining e iciency, e ec i eness, ease o use, ease o lea ning
and sa is ac ion, he ques ionnai e was buil o de ec he o e all usabili y o a sys em. All checks on he
alidi y and eliabili y o he ques ionnai e we e pe o med and he indica o s showed ha i is an essen ial
ool o e alua ing usabili y. Fo he es we e used among he o he 626 use s and he alue o he
C onbach alpha coe icien was calcula ed a 0.819 gi en a e y high alidi y and eliabili y o he ool. As
u he wo k o he esea ch could be men ioned he applica ion o his ques ionnai e in he in e ac ion
wi h compu e in eg a ed sys ems, such p oduc ion lines, cons uc ion lines, obo ic assembly lines, e c. in
o de o op imize he in e ac ion wi h hem.
Decla a ion o Con lic ing In e es s
The au ho s decla ed no po en ial con lic s o in e es conce ning he esea ch, au ho ship, and/o
publica ion o his a icle.
Funding
The au ho ecei ed no inancial suppo o he esea ch, au ho ship, and/o publica ion o his a icle.
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