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In the paradigm of Industry 4.0, innovative workplaces characterized by Human-Robot Collaboration represent an important topic to improve productivity and adaptability of manufacturing plants. In this context, the design of a collaborative workplace is a challenging issue because of the high level of complexity due to multidisciplinary and non-homogeneity of its features, as well as the presence of human very close to the robot.

This work faces with the complexity of collaborative workplace and proposes a structured framework to support strategic decisions in designing. It suggests a clusterization of factors and effects, based on five domains involved in collaborative workplace, in order to better consider the human safety and working conditions. Consequently, the main elements of a collaborative workplace are highlighted in a matrix decomposed in relevant features and main incident factors, and a …