I. INTRODUCTION
The phenomenon of the interruption in the transmission of cultural heritage and expert knowledge has become a matter of concern in contemporary society [1], [2]. The potential of robots to acquire and reproduce the advanced skills of experts is seen as a means of mitigating these social challenges. In response to these social demands, robots have undergone a transformation from serving as cooperative aids to humans to becoming autonomous entities capable of imitating human skills [3]- [5].