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In this paper, we illustrate our work on improving the accessibility ofCyber-Physical Systems (CPS), presenting a study on human-robot interactionwhere the end-users are either deaf or hearing-impaired people. Current trendsin robotic designs include devices with robotic arms and hands capable ofperforming manipulation and grasping tasks. This paper focuses on how thesedevices can be used for a different purpose, which is that of enabling roboticcommunication via sign language. For the study, several tests andquestionnaires are run to check and measure how end-users feel aboutinterpreting sign language represented by a humanoid robotic assistant asopposed to subtitles on a screen. Stemming from this dichotomy, dactylology,basic vocabulary representation and end-user satisfaction are the main topicscovered by a delivered form, in which additional commentaries are valued andtaken into consideration for further decision taking regarding robot-humaninteraction. The experiments were performed using TEO, a household companionhumanoid robot developed at the University Carlos III de Madrid (UC3M), viarepresentations in Spanish Sign Language (LSE), and a total of 16 deaf andhearing-impaired participants.

Sign Language Representation by TEO Humanoid Robot: End-User Interest, Comprehension and Satisfaction