  An effective human-robot collaborative process results in the reduction of
the operator's workload, promoting a more efficient, productive, safer and less
error-prone working environment. However, the implementation of collaborative
robots in industry is still challenging. In this work, we compare manual and
robot-assisted assembly processes to evaluate the effectiveness of
collaborative robots while featuring different modes of operation (coexistence,
cooperation and collaboration). Results indicate an improvement in ergonomic
conditions and ease of execution without substantially compromising assembly
time. Furthermore, the robot is intuitive to use and guides the user on the
proper sequencing of the process.
