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\textbf{\Large IRB Application for HRIStudio User Study}
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\section{PART I - Initial Classification}

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\item[\textbf{1.}] The research \textbf{will not} involve prisoners, individuals with impaired decision-making capacity, or economically or educationally disadvantaged persons.

\item[\textbf{2.}] The research \textbf{will not} involve subjects under the age of 18.

\item[\textbf{3.}] The research \textbf{will not} involve collection of information regarding sensitive aspects of the subjects' lives.

\item[\textbf{4.}] The information obtained \textbf{will} be recorded by the investigator in such a manner that the identity of the subjects can readily be ascertained either directly or through identifiers linked to the subjects.

\item[\textbf{5.}] The research \textbf{will not} involve either deception or incomplete disclosure of the purpose, methods, or other relevant aspects of the research.

\item[\textbf{5a.}] Subjects \textbf{will not} be informed prior to participating that they will be deceived, mislead, or otherwise not fully informed of all relevant aspects of the study. \textit{Only necessary if the answer to \textbf{5} is \textbf{will}.}

\item[\textbf{6.}] \textbf{The procedures of this research present no more than minimal risk to the subject} (where minimal risk means that the probability and magnitude of harm or discomfort anticipated in the proposed research are no greater than those ordinarily encountered in daily life or during the performance of routine physical/psychological examinations or tests).

\item[\textbf{7.}] The research \textbf{will not} be conducted in established or commonly accepted educational settings and will involve normal educational practices (e.g., research on regular and special education instructional strategies, research on instructional techniques, curricula, or classroom management methods).

\item[\textbf{8.}] The research \textbf{will} involve survey or interview procedures, observation of public behavior (including visual or auditory recording), or educational tests (e.g., cognitive, diagnostic, aptitude, or achievement tests).

\item[\textbf{9.}] The research \textbf{will} involve benign behavioral interventions in conjunction with the collection of information from an adult subject through verbal or written responses (including data entry) or audiovisual recording if the subject prospectively agrees to the intervention and information collection.

\item[\textbf{10.}] The research (including demonstration projects) \textbf{will not} involve already existing identifiable private information that has been collected or will be collected solely for non-research purposes. This information may include documents, records, or biological specimens (including pathological or diagnostic specimens).

\item[\textbf{11.}] The research \textbf{will not} be designed to study, evaluate, improve, or otherwise examine public benefit or service programs, including procedures for obtaining benefits or services under those programs, possible changes in or alternatives to those programs or procedures, or possible changes in methods or levels of payment for benefits or services under those programs where such research is conducted or supported by a Federal department or agency, or otherwise subject to the approval of department or agency heads (or the approval of the heads of bureaus or other subordinate agencies that have been delegated authority to conduct the research and demonstration projects).

\item[\textbf{12.}] The research \textbf{will not} involve taste and food quality evaluation and consumer acceptance studies.

\item[\textbf{13.}] The data collected in this research \textbf{will not} involve secondary analysis for which broad consent is required.
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\section{PART II - Detailed Study Information}

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\item[\textbf{1.}] \textbf{Study Purpose and Research Question}

Please describe in some detail the purpose of the proposed study (including, as appropriate, information about the research question and relevant hypothesis or, if the research is exploratory, what the researchers hope to learn).

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For my honors thesis project, I am evaluating HRIStudio, a web-based platform I developed for designing and executing Wizard-of-Oz experiments in Human-Robot Interaction research. My research question asks whether HRIStudio improves methodological consistency and user experience for non-technical researchers compared to traditional robot programming environments that come with common robots, like Choregraphe for the NAO robot. I hypothesize that participants using HRIStudio will achieve higher accuracy when recreating published HRI experiments, report better usability experiences, and complete tasks more efficiently than those using manufacturer-provided tools. This study will provide empirical evidence about whether visual programming interfaces can lower technical barriers in HRI research while maintaining experimental rigor.

\item[\textbf{2.}] \textbf{Subject Sample Description}

Describe the proposed subject sample. If subjects under the age of 18 will participate in your research, indicate the expected age range of the samples. If your research involves a category of subjects that is vulnerable to coercion or undue influence, such as children, prisoners, individuals with impaired decision-making capacity, or economically or educationally disadvantaged persons, you must indicate clearly why the use of these subjects is scientifically necessary.

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I will recruit 10-12 students and faculty from non-engineering departments at Bucknell University, specifically Psychology, Education, and Sociology. All participants will be adults aged 18-65 with experience designing behavioral experiments but little to no programming background. I will exclude anyone with engineering or computer science background, prior experience with Choregraphe or similar robot programming tools, or undergraduate students to avoid any perceived academic coercion. This population is scientifically necessary because my research specifically evaluates tools designed to make HRI research accessible to non-technical domain experts, so using participants with programming backgrounds would not test the platform's core value proposition of lowering technical barriers for interdisciplinary researchers.

\item[\textbf{3.}] \textbf{Recruitment and Selection Methods}

How will subjects be recruited and selected?

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I will recruit participants through email outreach to department chairs in Psychology, Education, and Sociology, requesting permission to contact faculty and graduate students. I will also use faculty referrals and graduate student networks in relevant departments. All recruitment materials will clearly describe the study purpose, 3-hour time commitment, and emphasize that no prior technical experience is required. Interested participants will complete a brief screening survey to confirm eligibility criteria, then be randomly assigned to either control group (Choregraphe) or experimental group (HRIStudio). Sessions will be scheduled based on participant availability with no deception involved - participants will know they are evaluating research software tools. Participants will be entered into a raffle to win one of four \$25 gift cards. All recruitment materials will emphasize that participation is entirely voluntary, can be withdrawn at any time without consequence, and has no impact on academic standing or department relationships.

\item[\textbf{4.}] \textbf{Detailed Research Methods and Procedures}

Describe fully the following:

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\textbf{a) Research methods and procedures that will be employed in this study}

I will conduct a randomized controlled trial comparing two software platforms for robot programming. Each participant will attend a 2-hour training workshop on their assigned platform (HRIStudio or Choregraphe), then complete a 3-hour individual session where they recreate a published HRI experiment using the NAO6 humanoid robot. The task involves programming the robot to perform a standardized greeting interaction sequence. I will measure completion accuracy against the original published protocol and collect user experience data through post-task surveys and brief interviews.

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\textbf{b) Approximately how much time each subject is expected to devote to the research}

Each participant will spend approximately 5 hours total: 2 hours in a group training workshop and 3 hours in an individual task session, scheduled within one week of each other.

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\textbf{c) How data will be collected and recorded}

Data will be collected with participant identifiers initially (for scheduling and compensation) but will be de-identified for analysis using numerical codes. I will use: (1) Screen recording software to capture participant interactions with the programming interfaces, (2) Timestamped logs from both software platforms showing programming actions, (3) Post-task questionnaires measuring usability, confidence, and satisfaction (Likert scales and open-ended questions), (4) Brief semi-structured interviews (10-15 minutes) about their experience, and (5) Objective scoring rubrics comparing their final robot programs to the target protocol. No audio/video recording of participants themselves, only screen capture of their computer interactions.

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\textbf{d) Methods for obtaining and documenting informed consent of subjects}

I will obtain written informed consent at the beginning of each participant's first session (the training workshop). Participants will receive consent forms via email 24 hours prior to review, and I will review all elements verbally before obtaining signatures. The consent form will clearly explain the study purpose, procedures, time commitment, voluntary nature, right to withdraw, data handling, and compensation details.

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\textbf{e) Any use of deception in the proposed study and justification for its use}

No deception will be used. Participants will be fully informed that they are evaluating robot programming software tools as part of a comparative study for my honors thesis research.

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\textbf{f) Methods for preserving confidentiality}

All data will be stored on password-protected, encrypted university computers in locked offices. Participant names will be replaced with numerical codes within 48 hours of data collection. Screen recordings and interview notes will be stored separately from identifying information. Data will be retained for 3 years following thesis completion, then permanently deleted. Only I and my thesis advisor will have access to identifiable data during the active research period.

\item[\textbf{5.}] \textbf{Benefits and Payment Arrangements}

Indicate any benefits that are expected to accrue to subjects as a result of their participation in the research. In the event that subjects will be paid, describe all payment arrangements, including how much subjects will be paid should they choose to withdraw from the study prior to completion of the research.

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Participants will be entered into a raffle to win one of four \$25 gift cards as compensation for their time and effort. All participants who complete the informed consent process and attend at least one session will be eligible for the raffle, regardless of whether they complete the full study. The raffle will be conducted after all data collection is complete, and winners will be notified within one week of the final session. The compensation is intended to acknowledge their time contribution rather than serve as an incentive to participate or continue in the study. Participants may also gain exposure to robot programming concepts and tools that could be useful in their own research, though this is not a guaranteed outcome. There are no direct personal benefits beyond the potential raffle compensation and potential learning experience.

\item[\textbf{6.}] \textbf{Researcher-Subject Relationships and Coercion Mitigation}

Describe any pre-existing relationships between researcher and subjects --- such as teacher--student, superintendent--principal--teacher, employer--employee --- that might impact subjects' ability to participate in the research voluntarily. How will any potential for coercion be mitigated by the researchers?

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I do not have direct supervisory, teaching, or grading relationships with potential participants since I am recruiting from departments outside of Computer Science. However, as a fellow student at Bucknell University, there may be informal academic or social connections. To mitigate any potential coercion: (1) I will emphasize in all communications that participation is entirely voluntary with no academic or professional consequences for declining or withdrawing, (2) I will not recruit through my own classes or research groups, (3) I will use department chairs and faculty as intermediaries for initial contact rather than direct personal outreach, (4) I will ensure participants understand that their decision to participate will not be shared with faculty in their departments, and (5) I will remind participants at each session that they can withdraw at any time while still remaining eligible for the raffle compensation.
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\section{PART III - Supporting Documents}

\begin{itemize}
\item \textbf{Informed Consent Form} (unless not required)
\item \textbf{Debriefing} (required if using deception)
\item \textbf{Research Materials}
\end{itemize}

Please note that all materials to which subjects will be exposed should be included (this includes surveys, interview or focus group outlines, visual stimuli, and so on). If using online surveys, please include as a PDF or a text document rather than simply providing a URL. You may upload multiple supporting documents using the 'Add Another' button below.

\begin{itemize}
\item \textbf{Your CITI Completion Report}
\end{itemize}

For more information, see Training Requirements.
Please upload a CITI report for any additional research personnel (PIs, co-PIs, research assistants, and so on).

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