## 2 Literature Review
Force sensors can detect unexpected resistance, triggering immediate cessation of movement to prevent collisions or accidents [32]. Haptic feedback devices provide physical sensations to human operators, conveying information about the cobot's state or impending actions [33]. This tactile dimension contributes to a more nuanced and sophisticated collaboration, allowing for a greater degree of trust and coordination between human workers and cobots. Human-cobot communication in collaborative assembly systems has a key role in task allocation and safety [34; 35]. Human-robot communication can involve various modes, \begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**Communication Method** & **Advantages** & **Disadvantages** & **Disadvantages** \\ \hline Text Communication & - & Provides clarity and precision. & - & Slower than verbal interaction. \\  & - & Effective for programming and documentation. & - & Higher cognitive load. Limited adaptability in dynamic tasks. \\ \hline Visual Communication & - & Enhances situational awareness and transparency. & - & Expensive and complex to implement. \\  & - & AR prevents errors and offers intuitive guidance. & - & Distracting in high-paced tasks. \\  & - & Provides real-time feedback & - & Over-reliance may hinder reaction time. \\ \hline Auditory Communication & - & Frees visual and manual attention. & - & Susceptible to noise interference. \\  & - & Enables multitasking. & - & Inaccurate speech recognition. \\  & - & Intuitive for natural interaction. & - & Risk of miscommunication in complex tasks \\ \hline  & - & Improves safety with haptic feedback. & - & Resource-intensive development. \\ Tactile Communication & - & Detects resistance and prevents collisions. & - & Limited to physical tasks. \\  & - & Fosters trust in physical interactions. & - & Over-sensitivity may lead to unnecessary operation interruptions. \\ \hline Multimodal Interaction & - & Combines methods for rich, adaptable interactions. & - & Prohibitively costly. \\  & - & Suited to diverse industrial applications. & - & Requires substantial computational resources. \\  & - & Offers natural, versatile communication. & - & Sensory overload can reduce task focus and efficiency. \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Advantages and disadvantages of human–cobot communication methods. including verbal communication using speech, multimodal interaction involving head movements, eye gaze, and pointing gestures, and nonverbal cues such as facial expressions and hand gestures [27; 36]. Multimodal interaction, which combines different modalities, leads to more natural fixation behavior, improved engagement, and faster reaction to instructions in collaborative tasks [37]. In addition to verbal communication, nonverbal cues could play a very important part in human-robot interaction, allowing for a more natural and inviting experience [38]. The concept of multimodal interaction in human-robot applications acknowledges the synergistic use of different interaction methods, enabling a richer interpretation of human-robot interactions [39]. However, multimodal interaction is not only very costly, but it also takes human attention off the task at hand [39; 40]. [PERSON] et al. [41] review the literature on cobots and describe how they are differentiated from robots. Additionally, they discuss typical cobot features, capabilities, collaboration, and industrial scenarios. [PERSON] et al. [42] describe the prospects of next-generation cobots in Industry 5.0. [PERSON] [43] stresses the differences between individual workers and proposes a complex mathematical model to optimize a human-robot collaborative assembly line performance to minimize the cycle time. Cobot task assignment must consider the integration of ergonomics and safety considerations for successful implementation [44]. As to vocal interface, several papers report various pioneering cases. An initial evaluation of robotic vocal commands was performed by [45] using simulation.