We propose a novel method by which a daily assistive robot can learn a new task from a user with no technical knowledge. The system is inspired by Mitate, the human capacity to communicate the movement of a tool using a different tool in a different environment. We confirmed experimentally that the system can learn a new trajectory of an object in the hand according to the online instruction by a human teacher, even if the prior knowledge about the object in the teacher's hand is not presented and the object is different from the manipulated object. These findings are not only desired in robotic support for elderly or handicapped people but also helpful for an intelligent robot system to enable human-like robust and diverse motion learning.

我们提出了一种新方法，通过该方法，日常辅助机器人可以从没有技术知识的用户那里学习新任务。该系统的灵感来自Mitate，即人类在不同环境中使用不同工具来传达工具运动的能力。我们通过实验证实，系统可以根据人类教师的在线指令学习手中物体的新轨迹，即使没有呈现教师手中物体的先验知识，并且该物体与被操纵的物体不同目的。这些发现不仅适用于为老年人或残疾人提供机器人支持，而且有助于智能机器人系统实现类人的稳健和多样化的运动学习。