Error Fields: Personalized robotic movement training that augments one's more likely mistakes.

Control of movement is learned and uses error feedback during practice to predict actions for the next movement. We have shown that augmenting error can enhance learning, but while such findings are encouraging the methods need to be refined to accommodate a person's individual reactions to error. The current study evaluates method, where the interactive robot tempers its augmentation when the error is less likely. 22 healthy participants were asked to learn moving with a visual transformation, and we enhanced the training with error fields. We found that training with error fields led to greatest reduction in error. EF training reduced error 264% more than controls who practiced without error fields, but subjects learned more slowly than our previous error magnification technique. We also found a relationship between the amount of learning and how much variability was induced by the error augmentation treatments, most likely leading to better exploration and discovery of the causes of error. These robotic training enhancements should be further explored in combination to optimally leverage error statistics to teach people how to move better.