Abstract: The European Union’s Industry 5.0 initiative introduces a new era of intelligent manufacturing that emphasizes a human-centric approach, driving the rapid advancement of human-centric manufacturing（human-centered smart manufacturing）. As one of the core paradigms of this concept, human-robot collaboration（HRC） has emerged as a key research focus in the industrial manufacturing domain in recent years. This study conducts a comprehensive analysis of the past and future of HRC, focusing on the following aspects: reviewing the development and evolution of human-machine relationships, exploring the iterative progression and integration of HRC models, summarizing the typical applications of HRC across various fields, and envisioning future development goals and technological breakthroughs. The evolution of human-machine relationships is elucidated by examining the coupling between industrial development trajectories and the increasing empathy between humans and machines. Based on the characteristics of human-machine relationships and collaboration, the iterative advancements and integration of HRC models in manufacturing systems are analyzed and summarized. Three typical modes of HRC—human-machine interaction, human-machine coordination, and human-machine symbiosis—are reviewed for their applications in fields such as product assembly, robotic control, and autonomous driving. The shortcomings and challenges of these modes in practical applications are also discussed. Finally, the future vision and developmental directions of HRC are outlined, with an emphasis on the new technologies and theories needed to overcome existing challenges in the era of advanced human-robot collaboration. These efforts aim to propel the manufacturing system toward a new level of human-centric intelligent manufacturing.

Key words: human-centric smart manufacturing, human-robot collaboration, human-robot relationship, manufacturing systems