Learning Force-Relevant Skills from Human Demonstration

Table 1

Holes and pegs with different fit tolerances and dimensions.

	Hole 1	Hole 2	Hole 3	Hole 4	Hole 5	Hole 6	Peg 1	Peg 2	Peg 3
Tolerance	H7	F7	E7	D7	H7	H7	h6	h6	h6
Dimension; mm(SI)