End-User Programming of Robot-Assisted Physical Training Activities through Behaviour-Driven Development

In this paper, we introduce an end-user programming approach for allowing physical trainers to program robot-assisted physical training activities without the assistance of a robotics engineer. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a workshop with a physical therapist who was tasked with programming two different routines for a training robot. Results of the study highlighted the cognitive strategies employed by the end user to solve the task and also the pain points which required higher efforts from the user and should be therefore prioritized in our future work.