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There is a recent trend of research and applications of Cyber-Physical Systems (CPS) in manufacturing to enhance humanrobot collaboration and production. In this paper, we propose a CPS framework for personalized Human-Robot Collaboration and Training to promote safe human-robot collaboration in manufacturing environments. We propose a human-centric CPS approach that focuses on multimodal human behavior monitoring and assessment, to promote human worker safety and enable human training in Human-Robot Collaboration tasks. We present the architecture of our proposed system, our experimental testbed and our proposed methods for multimodal physiological sensing, human state monitoring and interactive robot adaptation, to enable personalized interaction. CCS Concepts •Human-centered computing ! Human computer interaction (HCI); •Computing methodologies ! Artificial intelligence; •Computer systems organization ! Embedded and cyber-physical systems;

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This paper describes a novel system that can demonstrate the potential to track and estimate the torques that affect the human arm of an individual that performs rehabilitation exercises with the use of Kinect v2. The system focuses on eliminating the jerky motions captured by the Kinect with the incorporation of robotic mechanics methodologies that have been applied in the field of robotic mechanical design. In order to achieve this results, the system takes full advantage of the dynamic and kinematic formulas that describe the motion rigid bodies. Lastly, a simulation experiment is depicted to demonstrate the results of the system.

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