Integration of tactile sensors in a programming by demonstration system

Easy programming methods following the programming by demonstration (PbD) paradigm have been developed. The main goal of these systems is to allow an inexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. However, describing unconsciously performed actions or motor coordinations is very complex and in general not possible. This paper describes how tactile sensors are integrated in the PbD system which learns from human demonstration. An analysis of the tactile sensor and its characteristics is performed. Furthermore, the integration of tactile information in the systems' cognitive functions is pointed out. Finally, it is concluded that the enhancement of a data glove with tactile sensors improves the analysis of human demonstration. Moreover, the supplied information increases the sub-symbolic and symbolic task knowledge which lead to a more reliable recognition of the user's actions.