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Mobile cobots can increase the potential for assembly work in industry. For human-friendly automation of cooperative assembly work, user-centered interfaces are necessary. The design process regarding user interfaces for mobile human-robot cooperation (HRC) shows large research gaps. In this article an exemplary approach is shown to design a graphical user interface (GUI) for mobile HRC at assembly workplaces. The design is based on a wireframe developed to support situation awareness. An interactive mockup is designed and evaluated. This is done in two iterations. In the first iteration, a user analysis is carried out using a quantitative survey with  n  = 31 participants to identify preferred input modalities and a qualitative survey with  n  = 11 participants that addresses touch interfaces. The interactive mockup is developed by implementing design recommendations of the usability standards ISO 9241 – 110, 112 and 13. A heuristic evaluation is conducted with  n  = 5 usability experts and the measurement of situation awareness with  n  = 30 end users. In the second iteration, findings from the preceding iteration are implemented in the GUI and a usability test with  n  = 20 end users is conducted. The process demonstrates a combination of methods that leads to high usability and situation awareness in mobile HRC.

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User-centered design in mobile human-robot cooperation: consideration of usability and situation awareness in GUI design for mobile robots at assembly workplaces