A robot learning system for trajectory learning of an associated robot comprising a robot arm between a base and a tool center point, by demonstration from a user, the system comprising - a user interface arranged for connection to a controller of the robot, so as to allow the user to control the robot arm in order to follow a desired trajectory during a real-time learning session, wherein the user interface comprises at least a first control element for being operated by the user, and being arranged to control position in space of the tool center point of the robot, - a probe sensor arranged to be mounted on the tool center point during the real-time learning session, wherein the probe sensor is arranged to measure a distance parameter indicative of distance from the tool center point and a surface forming the trajectory to be followed and an orientation parameter (X, Y) indicative of orientation of the tool center point and the surface forming the trajectory to be followed, and wherein the probe sensor is arranged to continuously generate one or more signals (PTL_IN) corresponding to said distance and orientation parameters (X, Y, Z), and wherein said one or more signals (PTL_IN) is provided as a feedback to the controller of the robot during the real-time learning session, wherein the probe sensor comprises a longitudinally displaceable rod connected to a tip at one end and connected to a base of the probe sensor at the opposite end, so as to allow sensing of a distance Z1 between the base of the probe sensor and the tip by means of a distance sensor, such as a distance sensor comprising a linear potentiometer, and wherein the longitudinally displaceable rod and the base of the probe sensor are connected at a joint, so as to allow multidirectional movement of the longitudinally displaceable rod in relation to the base of the probe sensor, wherein a first angle sensor, such as a potentiometer, is arranged to sense an angle between the base of the probe sensor and the displaceable rod, wherein the distance Z1 and the angle are used to adjust the distance and the orientation of the tool center point so that the probe sensor is near a center position during the learning session, where the center position is a position that the probe sensor returns to when no forces are applied to the probe sensor, and - a processor arranged to log data in response to the user's operation of the at least first control element during the real-time learning session, such as continuously logging data at a predetermined sample rate, so as to allow later control of the robot in response to the data logged during the learning session. - a user interface arranged for connection to a controller of the robot, so as to allow the user to control the robot arm in order to follow a desired trajectory during a real-time learning session, wherein the user interface comprises at least a first control element for being operated by the user, and being arranged to control position in space of the tool center point of the robot, - a probe sensor arranged to be mounted on the tool center point during the real-time learning session, wherein the probe sensor is arranged to measure a distance parameter indicative of distance from the tool center point and a surface forming the trajectory to be followed and an orientation parameter (X, Y) indicative of orientation of the tool center point and the surface forming the trajectory to be followed, and wherein the probe sensor is arranged to continuously generate one or more signals (PTL_IN) corresponding to said distance and orientation parameters (X, Y, Z), and wherein said one or more signals (PTL_IN) is provided as a feedback to the controller of the robot during the real-time learning session, wherein the probe sensor comprises a longitudinally displaceable rod connected to a tip at one end and connected to a base of the probe sensor at the opposite end, so as to allow sensing of a distance Z1 between the base of the probe sensor and the tip by means of a distance sensor, such as a distance sensor comprising a linear potentiometer, and wherein the longitudinally displaceable rod and the base of the probe sensor are connected at a joint, so as to allow multidirectional movement of the longitudinally displaceable rod in relation to the base of the probe sensor, wherein a first angle sensor, such as a potentiometer, is arranged to sense an angle between the base of the probe sensor and the displaceable rod, wherein the distance Z1 and the angle are used to adjust the distance and the orientation of the tool center point so that the probe sensor is near a center position during the learning session, where the center position is a position that the probe sensor returns to when no forces are applied to the probe sensor, and - a processor arranged to log data in response to the user's operation of the at least first control element during the real-time learning session, such as continuously logging data at a predetermined sample rate, so as to allow later control of the robot in response to the data logged during the learning session.