Fig. 4

Analysis of Usability Evaluation Practice: A Evaluation efforts allocation per Technology Readiness Phase (TRP, n = 117): The allocated total of 100 evaluation-effort-points among the usability dimensions effectiveness, efficiency, and satisfaction, per TRP are shown. Paired comparison between the three dimension were analyzed within each TRP, while unpaired, two-sample comparisons between the TRP were calculated. Levels of significance indicated as: * = p < 0.05, ** = p < 0.01, *** = p < 0.001. B List of reported performance-related measurements (PRM, n = 88): *Other PRM described as spatiotemporal metric analysis, eye-tracking recording, number of steps. **Standardized functional measures (SFM) specified: upper limb SFM Box and Block Test (BBT, n = 6), Jebsen-Taylor Hand Function Test (JTHFT, n = 5), Action Research Arm Test (ARAT, n = 4), Chedoke Arm and Hand Activity Inventory (CAHAI, n = 2), Southampton Hand Assessment Procedure (SHAP), Assisting Hand Assessment (AHA), Smart Pegboard, Frenchay Arm Test (FAT), lower limb SFM 10 Meter Walk Test (10MWT, n = 2), 2 Minute Walk Test (2MWT, n = 2), 6 min Walk Test (6MWT, n = 2), Timed-up-and-Go (TUG), general SFM Human-Robot Fluency Metrics, Assessment of Capacity for Myoelectric Control (ACMC), Thermography, Failure Mode and Effects Analysis (FMEA), ISO regulation, fit and tolerance assemblies