  Even the most robust autonomous behaviors can fail. The goal of this research
is to both recover and collect data from failures, during autonomous task
execution, so they can be prevented in the future. We propose haptic
intervention for real-time failure recovery and data collection. Elly is a
system that allows for seamless transitions between autonomous robot behaviors
and human intervention while collecting sensory information from the human's
recovery strategy. The system and our design choices were experimentally
validated on a single arm task -- installing a lightbulb in a socket -- and a
bimanual task -- screwing a cap on a bottle -- using two 7-DOF manipulators
equipped 4-finger grippers. In these examples, Elly achieved over 80% task
completion during a total of 40 runs.
