“…The actions taken by a teacher can be perceived by sensors, such as visual sensors to capture a teacher’s body movements [ 10 , 11 ] or recognize a teacher’s gestures [ 12 ], wearable sensors, and force sensors to perceive a teacher’s behavioral intentions [ 13 , 14 , 15 ]. Compared with visual sensors, wearable sensors, etc., force sensor-based kinesthetic teaching is suitable for non-professionals to tell the robot the action needed to be taken in current state in a simple and intuitive way [ 5 , 6 , 7 , 13 , 14 , 15 , 16 ].…”