Oh, like since the 80s. One canonical example has been spreading butter on toast, something most children can learn to do quite early in life, but computer-mechanical systems are still not very good at (last time I looked, anyway). Rodney Brooks used to talk about this in the 90s, although that was also a period when "embodied intelligence" was where things were at (which sometimes went as far as "you can't really be intelligent without the physical experience of a body in the world").