Automotive final assembly is a complex process involving tasks requiring a significant amount of flexibility, for these reasons it has been difficult to automate and is still performed largely manually. Industry 4.0 concepts led to the deployment of collaborative robots, which don’t require physical separation as conventional industrial robots and can thus work closely to workers, taking over dangerous and physically demanding tasks. This research aim is proposing a new approach to Human-Robot task allocation and develop a systematic implementation framework to allow for an effective deployment of collaborative robot. Primary objective shall be to identify the variables that mainly affects the productivity of a HR collaborative assembly.