It　is　an　effective　way　for　the　robots　to　learn　operation　skills　from　the　humans.　In　this　paper,　we　realize　a　skill　learning　system　based　on　a　teleportation　system　for　transferring　the　human　experience　to　the　robot.　Firstly,　the　robotic　teleoperation　system　with　a　wearable　device　is　developed　by　controlling　the　motor　speed　directly.　This　system　greatly　reduces　the　time　delay　by　comparing　with　the　way　that　controlling　with　point　position.　Then,　a　rotation　invariant　dynamical　movement　primitive　method　is　presented　for　learning　the　operation　skills.　Finally,　the　effectiveness　of　the　proposed　human　experience　learning　system　is　evaluated　by　experiments　on　a　Baxter　robot.　The　human-robot　interaction　experiment　shows　the　validity　of　the　presented　robotic　skill　learning　system.　©　2017　IEEE.