“…Ultimately, other authors proposed semantic approaches, such as the assembly relation model (ARM), in which the assembly feature comprised the mating features, spatial relationships, mating bonds, join features, and other component properties, later complemented with a semantic model (Kim et al 2004(Kim et al , 2006; the four-level assembly featurebased ontology proposed by Hasan et al which aimed to link the product characteristics to the resource's skills (Hasan et al 2014a(Hasan et al , b, 2016aWikander 2016, 2017a, b;; or the ontology for dynamic assembly planning and task assignment for human-robot collaboration (Sipsas et al 2021).…”