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"...there's a great affinity between writing poetry and SF."
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This is an extension of Heinlein's idea expressed in his 1941 short story Waldo. In the story, the main character teaches other people to use waldoes on a lathe by taking control of the waldo glove worn by the craftsman. The craftsman being taught experiences what the main character is doing.
Compare to the Laminated Mouse Brain Computer from Think Blue, Count Two (1962) by Cordwainer Smith, the neuristor from The Moon is a Harsh Mistress (1966) by Heinlein and the artificial brain from The Metal Giants (1926) by Edmond Hamilton.
See also usuform robot learning from Q.U.R. (1943) by Anthony Boucher.
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