Nevertheless, there are numerous industrial applications, where the assembly process is mainly performed by human operators due to the fact that a) operations require a human like sensitivity, b) there is a variation in the materials used often showing a compliant, unpredictable behavior (upholstery, rubber, fabric etc.) and c) frequently more than one operators are active in performing cooperative or parallel operations in each station [16]. The latest trends foster the coexistence of humans and robots under a collaborative environment, sharing both workplaces and tasks. The synergy effect of the robot’s precision, repeatability and strength with the human’s intelligence and flexibility [1] is great, especially in the case of small scale production, where re-configurability and adaptability are of great importance.