![remote buddy 1.27 remote buddy 1.27](https://i.imgur.com/tIHVrCd.jpg)
We further explain how to instantiate the PAL framework using available technologies and discuss a path forward to a larger vision of physically assisted learning. Our proposed framework is rooted in theoretical needs and current advances for experiential learning, pen-paper interaction and haptic technology. To this end, we demonstrated a possible technical pathway to support the full experience of designing an experiment by drawing a physical system on paper, then interacting with it physically after the system recognizes the sketch, interprets as a model and renders it haptically. In this paper, we propose a framework for Physically Assisted Learning based on stages of experiential learning which can guide designers in developing and evaluating effective technology, and which directs focus on how haptic feedback could assist with design and explore learning stages. However, a number of technical barriers interfere with testing this approach, and making it accessible to learners and their teachers. Further, we conjecture that combining this rich feedback with pen-and-paper interactions, e.g., to sketch experiments they want to try, could lead to fluid interactions and benefit focus. In this paper we consider the premise that haptic force feedback delivered through a held robot can enrich learning of science-related concepts by building physical intuition as learners design experiments and physically explore them to solve problems they have posed. Robots are an opportunity for interactive and engaging learning activities. 2Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada.1SPIN Lab, Department of Computer Science, University of British Columbia, Vancouver, BC, Canada.Soheil Kianzad 1, Guanxiong Chen 2 and Karon E.