Deformable object (e.g., clothes) manipulation by a robot in interaction with a human being presents several interesting challenges.Due to texture and deformability, the object can get hooked in the human limbs.Moreover, the human can change their limbs position and curvature, which require changes in the paths to be followed by the robot.To help solve these problems, in this paper we propose a technique of learning by demonstration able to adapt to changes in position and curvature of the object (human limb) and recover from execution faults (hooks).The technique is tested using simulations, but with data obtained from a real robot.1