## 2 Related Work  
In the field of industrial automation, cobots represent a significant innovation, transforming traditional robotic workplaces by enabling close cooperation between humans and machines. Unlike conventional industrial robots, which are typically confined to cages or isolated work cells, cobots are specifically designed to operate in shared spaces with human operators, allowing for seamless interaction and collaboration. To ensure safety in these environments, organizations such as the International Organization for Standardization (ISO) have established specific rules and guidelines. The ISO/TS 15066 technical specification provides a framework for maintaining safety standards for collaborative industrial robots [14]. To protect human operators, cobots are equipped with specialized safety features, such as sensors that monitor speed and force to prevent accidents. Additionally, they are constructed with lightweight materials and have rounded edges to minimize the risk of injury in the event of unintended contact with obstacles [15]. The maximum payload capacity and operational speed of cobots vary significantly depending on the specific model and manufacturer. Typically, cobots are designed to manage payloads ranging from a few kilograms up to several tens of kilograms. Similarly, other parameters, such as maximum reach and physical dimensions, are also dependent on the manufacturer, the specific robot model, and the type of end effector employed [15; 16; 17; 18]. In recent years, collaborative robots have gained significant popularity, primarily due to their ability to work alongside human operators without the need for safety enclosures. Human-Robot Collaboration (HRC) can be classified into three distinct levels: coexistence, cooperation, and collaboration [19], as illustrated in Figure 1. These levels are directly related to the nature of interaction between the human worker and the robot within their respective workspaces. Coexistence involves a human and a robot working in a partially or completely shared space without pursuing common goals; they operate independently within the same environment. In cooperation, the human and robot share a common goal while working in a partially or completely shared space, coordinating their efforts to achieve the desired outcome. The highest level, collaboration, occurs when both the human and robot work simultaneously on a shared object within a shared space, requiring close synchronization and direct interaction to complete the task effectively. In Table 1, the various types of HRC are categorized based on different shared attributes. HRC has generated considerable interest in research. Effective collaboration between humans and robots can alleviate workers from strenuous tasks if efficient communication channels are established between them. These channels rely on communication methods that are intuitive, unambiguous, and quickly executable for human operators. Multimodal intuitive programming enables robots to be programmed without the need for knowledge of programming languages or expertise in programming. Types of multimodal robot  
Figure 1: Types of HRC: (**left**) coexistence, (**middle**) cooperation, and (**right**) collaboration. control include gesture-based control, voice command control, and control using haptic gloves [20; 21]. Collaborative robotics has advanced considerably in recent years, with significant emphasis on enhancing human safety, increasing payload capacity, and improving mobility and flexibility. Leading companies in this sector, such as Universal Robots, Rethink Robotics, ABB Inc. Robotics, KUKA Robotics, and Omron, among others, continue to drive innovation in this rapidly evolving field. Ongoing developments in safety systems, programming interfaces, and application areas are making collaborative robots more accessible and versatile, thereby expanding their potential use in various industries where close human-robot interaction is essential [22]. Lastly, several challenges remain unaddressed.