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Physical interaction between humans and robots can help robots learn toperform complex tasks. The robot arm gains information by observing how thehuman kinesthetically guides it throughout the task. While prior works focus onhow the robot learns, it is equally important that this learning is transparentto the human teacher. Visual displays that show the robot's uncertainty canpotentially communicate this information; however, we hypothesize that visualfeedback mechanisms miss out on the physical connection between the human androbot. In this work we present a soft haptic display that wraps around andconforms to the surface of a robot arm, adding a haptic signal at an existingpoint of contact without significantly affecting the interaction. Wedemonstrate how soft actuation creates a salient haptic signal while stillallowing flexibility in device mounting. Using a psychophysics experiment, weshow that users can accurately distinguish inflation levels of the wrappeddisplay with an average Weber fraction of 11.4%. When we place the wrappeddisplay around the arm of a robotic manipulator, users are able to interpretand leverage the haptic signal in sample robot learning tasks, improvingidentification of areas where the robot needs more training and enabling theuser to provide better demonstrations. See videos of our device and userstudies here: https://youtu.be/tX-2Tqeb9Nw

Wrapped Haptic Display for Communicating Physical Robot Learning