A touchscreen interfaces with your computer via two connections: a VGA or DVI connection for video, and a USB or serial port connection for the touch interface (Mac users need to make sure their screen has USB). Introduction: • It is the pointing technology based on sense of touch also known as haptics. In addition, the system must require an operator to initiate action and keep the operator informed by providing timely feedback on those actions. Definition and Design Best Practices Version 1.1, 8/3/2010 ... detailed Interface Design Document , which is an integral part of the overall system design. We’ve talked about the types of UX buttons in button design, but what about the best ways to implement them in your website’s UX design? For example, a magnetic resonance imaging (MRI) HMI system interface should last at least 10 years. … Button size should reflect the priority of this element on the screen. Android provides a variety of pre-built UI components such as structured layout objects and UI controls that allow you to build the graphical user interface for your app. It's about size. When you’re designing mobile interfaces, it’s best to make your targets big enough so they’re easy for users to tap. There's a boatload of research in CHI and Human Factors about input mechanisms. Optimise the mobile real estate. 1. What is Touch Screen Interface? This prevented your hand from obscuring the results. Image: Ramotion 4. ... Touch-based interfaces have also allowed for swipeable image galleries that work nicely with computer mice too. Touchscreen technologies offer a range of functionalities and characteristics that govern HMI systems choice according to application and environment. As equipment and control systems became more complex and data hungry, transmission of data became a critical issue. Each integration is considered work, and by this: touchscreen < [mouse|trackpad] < [joystick|nubbin]. HMI Design Best Practices: The Complete Guide. Touch screen interface is also gaining popularity in in-car interactive systems. UX button best practices. Defining input requirements will help decide which control technology is best suited for a specific application. Would you mind sharing a little more about your background wrt handheld development? Search Products And Discover New Innovations In Your Industry. As I mentioned earlier, a target’s visual design drives users’ expectation of its size. International and U.S. standards for HMI systems. Fieldbus protocols evolved for interconnecting industrial drives, motors, actuators, and controllers. Environmental stresses include exposure to moisture and the elements, temperature extremes, wear and tear, vandalism, and general rough use characteristic of harsh environments, such as an industrial production floor. Here are a few more mobile UX design best practices that might not be as well known as Google’s, but are just as important for mobile designers to take into account. With the increasing prevalence of touch-based devices, it’s a more pivotal concern than you might think. There are many drawbacks, including difficulty integrating changes or new features-new features require new wiring. I say this having worked on handhelds for, um, 15 years now. But for the more-general "productivity" applications - from email clients to word processors to graphics design software (where the "word bias" isn't an issue), I don't see touchscreens being the more efficient way to go. • It requires user to touch on the screen in order to activate desired functions. Make buttons “fat finger” friendly. But (and forgive me if I'm mistaken) your application was a special exception where the option of using the touchscreen UI made more sense, just as the Nintendo DS has a usability edge with its touchscreen. Clutter is terrible on a desktop, but it’s way worse on mobile devices where users have limited screen space. Best Practices of Touch Screen Interface Design. Conventional wiring also requires more space due to the number of wires and the actual size of the wires and larger connectors due to higher pin counts. A famous saying by Antoine de Saint-Exupéry … This project will shows you how to develop a easy to use touch screen device to display web interface on a NetBurner device. It requires designers to pay a strong attention on content, navigation and animation. Apple’s Human Interface Guidelines detail mobile UX design principles. It is important to determine which touch technology will be used in the early stages of the design cycle as the different options offer quite unique electrical and mechanical requirements. With a large screen, they must move their heads around to see all parts of the interface, which requires more effort from users. A trackball or joystick enables granular, pixel-by-pixel control, a far higher resolution than possible with a typical PC point-and-click controller. Best Practices of Touch Screen Interface Design (voltagecreative.com) 14 points by wmeredith on May 16, 2008 | hide | past | web | favorite | 18 comments sanj on May 16, 2008 Mentally, users also have different feelings about large touch screen. And made users wicked happy. Spacing prevents it from having a cluttered appearance and puts more emphasis on individual controls and fields on the interface. But "grabbing" is a less-efficient solution. These include: Profinet, EtherNet/IP, Ethernet Powerlink, EtherCAT, Modbus-TCP, and SERCOS III. Best practice 9. This interface where a person interacts with a display, and consequently the process, is called a Human-Machine Interface, or HMI. Visual Design Templates. Large button means more important action. I'm not sure of any resources about this, but I think you can maybe modify a few best-practices according to what we know about touch screen interfaces. for example, with a touch screen it's easier to target and click an icon with your finger than it is with … An area on a screen that a user can touch to perform an action is a touch target. This article discusses some best practices and usability traits of six user interface elements and the conventions for each, so that developers can create user experiences that are both beautiful and simple. For example, I use irssi on my phone when colloq stops working to get on irc, and I wish I could flick back and forth between windows...or I wish I could manipulate and split windows with only my fingers zooming in and out and dragging things. Avoid too many colors or flashing alarms. Drop-down menus, keyboards that slide up and lightboxes are all examples of UI overlays. Touch typing on a keyboard fall outside this space because there is no pointing/tracking task at all. This is a different paradigm than many web and even mobile app developers are used to. Before you design your interface, you need to define how people will use it. Consumers quickly become frustrated when they cannot get a touchable elementto respond to their touch because they inadv… There are two ways dominating the best-practice scene for detecting if a user is on a mobile device. Properly size your buttons. And the mouse is not less efficient than the keyboard for certain tasks. Just watch a baby for a few minutes, they're instinct is to touch everything. Application, best practices, standards, and operator skill sets influence HMI designs. UX Research. It's easiest to think of the touch interface in PC terms as being similar to … The physical size of a mobile touchscreen has important usability design implications, because although screen sizes are quite variable, our fingers and thumbs are the same size they always were, and interface layouts that work very well on a small, vertical smartphone screen might prove to be awkward on a tablet with a much larger screen. All Intuiface needs to know is the pixel resolution to ensure designers are provided with the right canvas size for their design. In fact, every single LCD I use has fingerprints all over it because sometimes I forget they're not touchscreens and I touch the display to do something. Guidelines and experience help with HMI designs. As we explain in our Web Design Book of Trends 2015–2015, cards are popping out everywhere lately, and this pattern’s success is directly related to its usefulness. In my opinion, delight is great, but not when it comes at the expense of productivity. Reaching out and manipulating something is just about the most natural way to interact with it. Just as critical, in-depth knowledge of and compliance with all relevant ergonomic, safety, and industry standards must inform each step of the design and manufacturing cycle. Typically, communication can be achieved through several approaches: hard-wired connection, serial bus connection, or wireless connection. Feedback is critical to operator effectiveness and efficiency. Fieldbuses include: Profibus, DeviceNet, ControlNet, CAN/CANOpen, Interbus, and Foundation Fieldbus. This style is mostly flat, but makes use of subtle shadows, highlights, and layers to create some depth in the UI. In case you don’t know, to “fat finger” a button means to hit … This topic discusses bus connectivity methods for an integrated Windows touchscreen device. I'm not sure of any resources about this, but I think you can maybe modify a few best-practices according to what we know about touch screen interfaces. When you’re designing actionable elements in mobile interfaces, it’s vital to make targets big enough so that they’re easy for users to tap. Scrolling opens a lot of new doors to designers. Microsoft has published its design guidelines for building Universal Apps on Windows 10. ‘About Us’ page is a vital part of every App as it’s usually one of the first destinations visitors would visit when arriving at an app. If users could reasonably expect an entire button or other element to be tappable, make it so. Unfortunately, that means Android apps should have their controls at the top of the screen to avoid crowding the system buttons. Best Practices for Accordion Menu in Web Design . Just look at Tinder: the app’s user experience is literally defined by the ease and impulsivity of a simple swipe. Wiring is much simpler and more flexible with smaller cables and connectors allowing for more compact design and easier hardware updating and relocation. HMI systems must be able to interface/interconnect with the system under control as well as other related systems. It's not ideal: this puts navigation outside the thumb zone, and when you tap a button, the hand covers the entire screen. Despite gestures and shortcuts and my aliases, I couldn't really get anything done and gave it up to do later. In the past five years there has been an explosion of new tools, such as Nest’s self-learning thermostat (unveiled in 2011), or Amazon’s Echo (2014) which sought to be both a personal assistant as well as a hub for the dizzying new array of home-automation gadgets.However, tech in the home has been around for quite a long time. UX Research. Human-machine interface (HMI) systems provide the controls by which a user operates a machine, system, or instrument. In order for a kiosk user interface to be “touch-friendly,” it must allow the user to navigate comfortably using only their fingers without the need for a mouse and keyboard. Search System Integrators And Discover New Innovations In Your Industry!! Subscribe and get the Smart Interface Design Checklists PDF delivered to your inbox. The basic function of displays in HMI applications is to provide an information source-operators interact to obtain information or to prompt for the next screen. Surface acoustic wave (SAW) touch technology. Here are some tips for designing multimodal, voice-first experiences that prove engaging across all Alexa-enabled devices. for example, with a touch screen it's easier to target and click an icon with your finger than it is with a mouse (provided the icon is big enough to fit your finger in). 1. Short travel technologies (Conductive rubber, membrane, keyboard, keypad, etc.). – See additional articles on HMI system design below. Hard-wired systems require no special tools and are simple, visible, and easy to understand, especially where the HMI interface controls one machine. A good starting point for HMI design is a text-based outline documenting each screen’s co ntent. The best way to indicate a button is to use visual cues. SAW serves well in outdoor and harsh environments because it can be activated by a heavy stylus or gloved fingers. It mentions Touch Screen Interface advantages or benefits and Touch Screen Interface disadvantages or drawbacks. The Newton provided some nice UI guidelines. Know Your Users. The selection between different control technologies is primarily determined by the resolution of control that is required by the application. HMI systems encompass all the elements a person will touch, see, hear, or use to perform control functions and receive feedback on those actions. One of the biggest attributes of this new generation of interfaces is its ability to make... 2. Stick with the "traffic light" model for key actions: Feedback is critical to ergonomic industrial design. With the Echo family of devices now including devices with screens like Echo Show and Echo Spot, Alexa skill builders have to consider their graphical user interface (GUI) in addition to their voice user interface (VUI) during the voice design process. Cursor control (Trackball, joystick, keypad, touchpad, etc.). When designing software for touch screen displays, any designer should be aware of some best practices. The tasks that users are trying to perform are becoming increasingly complex, and overlays can really help to take off the pressure. Piezo, capacitive, and high frequency technologies all offer rugged switch technology with long life cycles and low maintenance costs. And it’s one of thousands. Bus systems provide many advantages over hard-wired connections, including easy addition of new functionality—typically through software—without adding or replacing hardware. More intuitive != more productive; and the current problem (IMHO) with mobile devices is that they have such low efficiency rates that their productivity _despite_ the advantage of being always on and always with you still suffers (as a result of size, awkwardness, and time-consuming adaptations we need to use). 2. Industrial applications have employed wireless technologies over the past 20 or so years, primarily to take advantage of real-time data transmission, application mobility, and remote management capabilities. For this reason, mobile navigation systems should be minimal : the site’s content needs to stand front … If the user lands on a screen with an overwhelming number of input fields, they might get the urge to quit. Screens. It's a good starting point. Mentally, users also have different feelings about large touch screen. Efficiency and ease of use rely on the design of the human-machine interface; Application, best practices, standards, and operator skill sets influence HMI designs. Your (smashing) email Subscribe → As a general rule, most Web developers, especially usability enthusiasts, say it is bad practice to use drop-down menus because … So target everything from an Android tablet and iPad Pro to the Microsoft Surface Pro, a Lenovo Chromebook, a 22'' HP all-in-one kiosk or an 82" Planar-based multi-display video wall. I think that direct manipulation on a touch screen is a big deal. You’re reading what is essentially a “best practices” article, after all. Material is an adaptable system of guidelines, components, and tools that support the best practices of user interface design. For any user along the range from intuitive to expert, interface ergonomic considerations should include: panel layout, HMI component selection, information presentation, feedback, and safety considerations. Joysticks & pointing nubbins are one step worse: "I have to hold it in this deflection to cause it to move the cursor for this amount of time.". Just as moving the mouse around may be less efficient than typing on that keyboard; grabbing stuff to interact with them can be a waste of time. Designing for touch has a goal of reducing the number of incorrect inputs and making interaction with an app more comfortable. Here are a few more mobile UX design best practices that might not be as well known as Google’s, but are just as important for mobile designers to take into account. Perhaps this article delights some of you and helps to design in a more consistent way for your next project. This has since been corroborated with the flight testing of (among other things) fighter aircraft. (by Apple) Additional Mobile UX Best Practices. Feedback is essential in systems that have no mechanical travel, such as a touchscreen or a capacitive device that when triggered has no moving parts. Apple’s Human Interface Guidelines detail mobile UX design principles. ), Physical configuration and mounting needs. (by Apple) Additional Mobile UX Best Practices. Mobile UI Best Practices About. With the operator’s point-of-view and ease-of-use in mind, detail the main screen, equipment status screens, set point or recipe screens, manual functions, message displays and fault displays. The HMI system should be rugged enough to withstand the elements and heavy use, but it also should last for the duration of the equipment lifecycle. On mobile devices, the primary mode of interaction is usually touch. SAW touch technology sends acoustic waves across a glass surface from one transducer to another positioned on an X/Y grid. Make sure the results of pressing a control button, toggling a switch, or entering a command are absolutely clear. With the Echo family of devices now including devices with screens like Echo Show and Echo Spot, Alexa skill builders have to consider their graphical user interface (GUI) in addition to their voice user interface (VUI) during the voice design process. If so, commands/functions should be simple with an easy-to-comprehend interface. Design For Fingers, Not Cursors. ONLINE extra – See additional articles on HMI system design below. Display technologies (LCD, active matrix, OLED, FED, plasma, etc.). I totally disagree. This post should outline the important concepts and topics related to accordion interface design. Unfortunately, that means Android apps should have their controls at the top of the screen to avoid crowding the system buttons. Check out the top user interface design tips that will help you create a visually and functionally successful mobile application. This is awesome stuff, Sanj, thank you for sharing. Some of the best was done in the last 60's and revolved around the "McRuer Crossover Model". A highly reliable HMI system that delivers safe, cost-effective, consistent, and intuitive performance relies on the application of engineering best practices throughout design, panel layout, production, testing, and quality assurance processes. The receiving transducer detects whether a wave has been disrupted by touch and identifies its coordinates for conversion to an electrical signal. With a mouse, you have to think "I have to move it for this amount of time to get to where I want". With all the different kinds of inputs available—mouse, keyboard, camera, microphone, screen—well, there just isn't One True Input for the Web. The new documentation outlines designing apps for Windows 10 … Appearance of the Search Box. Define how people use your interface. For games and leisure, productivity is a non-issue and - you're absolutely right - delight and simplicity should be the developer's number one focus. Topic Description; Device Bus Connectivity. This project will allow the integration of all kinds of friendly UI as it is only a web application. Building a handheld application requires getting into the mindset of the UI that it requires. Display technology choices are dictated by the HMI system environment and its degree of ambient illumination, as well as by color requirements. Conventional, hard-wired systems are still used in many transportation and industrial legacy systems. Everything stems from knowing your users, including understanding their goals, skills, preferences, and tendencies. With a large screen, they must move their heads around to see all parts of the interface, which requires more effort from users. Once you have established how an HMI will look, feel, and operate, consider how the HMI will connect to and communicate with the core equipment or system under control. I think the next big push is going to involve design guidelines for truly mobile apps, apps you use while actually navigating the world and not stopping to work. Switches (Pushbutton, rocker, slide, keylock, rotary, etc.). Additional HMI specifications are furnished by ANSI, IEEE, ISO, and others. Visual design has a great deal of influence over the user’s experience of the app interface and, in this case, the mobile forms. Sophisticated HMI systems enable reliable operations of technology in every application, including high-speed trains, CNC machining centers, semiconductor production equipment, as well as medical diagnostic and laboratory equipment. But lately, I tried to ssh to a server to fix an issue from my iPhone and typing was a bitch. Support Personalization You already design your app to adapt to environmental variations — such as device orientation, screen size, resolution, color gamut, and split view — because you want people to enjoy your app in any context and on all supported devices. A buddy and I started writing stuff for them -- some games and a VT100 emulator. but with the coming of the iPhone and a host of other touch-screen equipped smart phones at attractive price points (Like the Palm Centro and HTC Touch) I’m thinking about touch screen interfaces more and more. Determine if operator feedback is visual, auditory, tactile, or a combination of multiple techniques. That means designers can no longer rely on screen size as a universal signal of touch interfaces. Today many, if not most, users expect a device to be touch-enabled and to have an intuitive user experience. Make the most important button look like it’s the most important one. Backed by open-source code, Material streamlines collaboration between designers and developers, and helps teams quickly build beautiful products. Clear presentation of alarms as well as the ability to report errors are crucial elements in any HMI. Best Practices for Designing an Interface. First, consider the following table of points before specifying a touchscreen … The smartphone screen is small, by most merits, and even a few additional items can overwhelm the user with too much information. As stated, a touch screen highly demands visual attention; however, when using in-car touch screen, the touch screen can minimally distract user (i.e., driver) from the main task which was driving. These indicators help people determine whether or not a button is clickable. These include Human Engineering standards, such as MILSTD-1472F, which establishes human engineering design criteria for military systems, subsystems, equipment, and facilities; federal standards like those set by the Americans with Disabilities Act; and industry guidelines such as those from SEMI, the global semiconductor industry association, covering HMI for semiconductor manufacturing equipment. A thorough knowledge of technical ergonomic, design, and manufacturing standards is fundamental to HMI system design. However, this pattern is not without its drawbacks. Mobile screens are smaller, so all parts of the screen become more valuable. Here are some tips for designing multimodal, voice-first experiences that prove engaging across all Alexa-enabled devices. Design trends should inform, but not steer the user experience. Clearly, my story about large touch screen interface design went beyond that. The best practices for UI design do not require any great artistic talent – they are mostly based on the same basic elements of design that anyone can learn. The templates often incorporate common interaction design patterns and follow industry trends. Higher level networks connect with fieldbus protocols primarily across variations of Ethernet. Cards act as contai… This article is about my best practice how to build and align UI elements for any platform and screen size. On large information-rich or product-heavy websites, search is king. It works perfectly in combination with the Atomic Design System. In addition, emergency stop switches, generally referred to as E-Stops, ensure the safety of persons and machinery and provide consistent, predictable, failsafe control response. When you’re designing actionable elements in a mobile interface, it’s vital to make … Cluttering a user interface overloads your user with too much information — every added button, image, and line of text makes the screen more complicated. Clear definitions of the functional requirements, the operator’s level of expertise, and any communications/interactions with other systems provide the starting point in the knowledge-intensive design process. It turns out that you can cleanly calculate when the task gets too hard. I know irssi isn't a mobile app, but it sure does make a good example. Where one function might be served by pushbutton, keylock, and rotary switches, multiple functions could require several screen displays to cover operator functions and options. Design for Touch Gone are the good old days when we only used keyboard and mouse events to interact with a website. If users could reasonably expect an entire button or other element to be tappable, make it so. The idea of home automation (or the “smart home”) has seemed “not too far off” for years now. There are many ways to develop human machine interface (HMI) screens for machine automation and related applications, but effective implementation requires discipline in design. As I mentioned earlier, a target’s visual design drives users’ expectation of its size. Touch Screen Usability Best Practices When Designing Automation User Interfaces (UI) 1. Stacking controls in a touch interface should always be avoided, especially at screen bottom. We can touch things to see what they do, or we can process what we see and hear to arrive at the same conclusion but with less physical effort and in less time. Appearance of the Search Box. Organic light-emitting diodes (OLEDS) (carbon-based) can currently support smaller displays. Perceivability — Making sure that all content can be perceived whether people are using sight, hearing, or touch. About a year after that I helped cofound PatientKeeper, http://www.patientkeeper.com, where I wrote the first 7ish versions of the handheld app before we hired some really talented engineers to hand it off to. But what we did was to have a word automatically entered on the input box when you tapped on that word above in the description. Themeable content management systems (CMS) and a global industry of visual designers provide easy access to sites such as ThemeForrest and TemplateMonster for downloading free or paid design templates. Guidelines and experience help with HMI designs. I had to think about this hard when we created Mobiphos, http://nirmalpatel.com/mobiphos.pdf to study mobile collocated photo sharing. UI overlay is a very powerful design solution that has many uses. – John J. Pannone is vice president for HMI systems sales for EAO; edited by Eric R. Eissler, editor-in-chief, Oil & Gas Engineering, eeissler@cfemedia.com. Touch and switching technologies (Capacitive, Piezo, high frequency, etc.). In this section. Will the operator be a passive/intuitive user? You integrate its motion to get the final position. To facilitate faster data transmission rates, devices incorporated serial bus connections-especially in electronics, semiconductor, machining, industrial, process, and transportation. Additionally, it might be networked into a manufacturing execution system and a supply logistics/inventory system. Size interactive elements adequately. Material is an adaptable system of guidelines, components, and tools that support the best practices of user interface design. Which, by my calculations, represented ~70% of their $45m FY08. Efficiency and ease of use rely on the design of the human-machine interface. A wide range of electrical machinery must have these specialized switch controls for emergency shutdown to meet workplace safety and established international and domestic regulatory requirements. Touch screen interface design is a tricky thing for some people who’ve been designing for a mouse-bound audience. Clearly, my story about large touch screen interface design went beyond that. A buddy an I wrote a text-adventure parser so you could play stuff like Zork and HHGTTG on the Newton. An area on a screen that a user can touch to perform an action is a touch target. A serial bus approach eliminated data transmission slowdowns due to cable length and delivered reliable, real-time operations and work-in-process feedback. Ergonomic considerations and demands are inherent to tablets and phones, but now we're seeing touch-friendly laptops and desktop screens. For HMI systems design, safety considerations are a critical part of the system. For this type of user, repeatability is also important—information and actions should appear consistently from use to use. They are also useful in machinery and machine tools, electronic production, rail and bus transportation, medical treatment and diagnostics, or other environments for easier manipulation when gloves are worn. My company blog needs more comments before it'll be worth reading! And it is delightful. Almost flat design was an evolution of the original (or ultra) flat design. Therefore, we have compiled a list of eight best practices you can tap into in order to make UX mobile-app design better. That was scads faster than tapping something out. For starters, the obvious difference between mobile and desktop design is the screen size. Probably the UI. Interface/Interconnection with other systems. Why use Accordion Menus? Your app's user interface is everything that the user can see and interact with. Motion control most often employs joystick technology for applications requiring macro control, such as controlling the bucket on a payloader, a robotic arm, or directional control for a piece of materials handling equipment or pull mechanisms. Backed by open-source code, Material streamlines collaboration between designers and developers, and helps teams quickly build beautiful products. The user wants to discover information about the application quickly. Key to the entire HMI system design cycle is a thorough knowledge of federal, industry, ergonomic, safety, and design standards. Getting an oil tanker into harbor is 6! Meeting this directive earns the equipment a CE mark. Understand that you always have access to a keyboard on the Newton -- there was even an external one. The application environment—encompassing both physical location and vertical industry environment-determines HMI system durability requirements. It's a lot more responsive and intuitive. Touchscreen HMI systems are increasingly popular in public transaction applications, because they can simplify complex operations and tolerate a moderate degree of rough use. Your comments have been pretty insightful. As a rule of thumb, design controls that have touch area of 7–10 mm so they can be accurately tapped with a finger. Thanks for sharing your experience in this field. For more information about interactive elements, read the article Button Design Best Practices. Creating a good user-interface is not an easy task. Depending on the ultimate product application, observing appropriate standards assures that a product will meet industry criteria. http://www.patientkeeper.com/news_and_events/press_releases/... http://www.mediateam.oulu.fi/publications/pdf/1076.pdf. Short travel technology can include cost-effective, conductive rubber keys in a typical keyboard, dome keys under an overlay, or a multilayer membrane. In some cases feedback provides confirmation of an action, while in others it adds to the functionality. Using smartphones, users can take in the whole screen at one glance. The tools needed for effective operator control of the equipment as well as the requirements of the overall application determine the selection of interface functions. Power Management. Facebook Patterns Twitter Google + Oprah Problem Browsing is a large part of site interaction, but displaying the details for each item would clutter the screen. Defining the operational/functional requirements. "Grabbing" an object by touching it and then being able move it is an even better illusion on a touch screen than with a mouse. I've appended it to bullet point #7. But for productivity tools, making things easier and quicker to get done is the most important thing. It's not ideal: this puts navigation outside the thumb zone, and when you tap a button, the hand covers the entire screen. The bottom line is that it says that the less (mental) work you have to do to, the better you'll do. High-performance HMIs: Designs to improve operator effectiveness, Benefits of an open-source language for robots, Secure-by-design industrial products are increasingly important, Control Engineering hot topics, November 2020, China, U.S. leading manufacturing charge from COVID-19 shock, Computer-aided creativity for robot design, Top 5 Control Engineering Articles Nov. 23-29, 2020, Actuation preferences (momentary, maintained, rotary, etc.