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Our present work aligns three results from previous robotics research in simultaneous kinesthetic teaching of spatial and force/torque requirements for “in-contact” tasks, to highlight the endeavor towards the creation of safe, flexible, cost effective, confidential, natural programming interfaces, a crucial tool for the manufacturing domain of the future. The tasks that we here consider overarch different dimensions of complexity, from writing with a marker on a white slate to using a wood plane. Eventually, incrementally assisted kinesthetic teaching (IAKT) allows human experts to refine their demonstrations under modulated robotic assistance, thus converging, by a limit process constituted of a sequence of sub-perfect individual demonstrations, towards the “ideal” crafting intention, i.e. the humanly unreachable, perfect execution of the task. In the closing discussion, we demonstrate how this approach can find space in contemporary industrial and SMSE manufacturing, in order to aim for improved production quality and performance.
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