“…Although there have already been some studies of learning systems in man-machine cooperation [1] [2], most ofthem only focused on short period operations in which the coop-0-7803-7860-1/03/$17.00 0 2003 IEEE 162 2) Humanoid Robotics Institute (HRI), Waseda University 3-4-1, Okubo, Shinjuku-kq Tokyo, 169-8555, Japan E-mail: {ogata, sugano) @paradise.mech.wased.ac.jp eration relation between the person and the machine is organized. Therefore, they did not discuss important aspects such as the mutual interaction after the relation organization, the collapse and modification of the relation, and the long process of development from a beginner to an expert.…”