In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for executing a real-time assembly task. Eighty industrial engineering students aged 22-27 participated in experiments in which timing and sensor based models were compared to an adaptive model developed within this framework. Performance measures included total

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... time and total idle time. The results showed conclusively that the adaptive system improved the examined parameters and provided an improvement of 7% in total assembly time and 60% in total idle time when compared to timing and sensory based models.