Research Article

Learning Force-Relevant Skills from Human Demonstration

Table 3

Result comparison of insertions for different tolerance fit or dimensions.

HoleRate of success (%)Avg. completion time (s)Norm of contact force mean (std.dev) (N)Avg. energy consumption (J)

1 88 15.2 11.0 (6.2)1483
2 76 14.5 11.2 (6.3) 1413
3 80 15.4 10.8 (6.5) 1568
4 88 12.5 11.7 (6.4) 1336
5 88 14.1 11.1 (5.7) 1464
6 76 14.5 11.7 (6.1) 1531