The shift from Industry 4.0 to Industry 5.0 embraces human-centricity, prioritizing technology that enhances rather than replaces human capabilities. This approach improves collaboration between humans and machines, exploiting their complementary skills to achieve a common goal. While a 6-Degrees of Freedom (DoF) robot arm already resembles the human arm, a 7-DoF design more closely mimics its dexterity, providing greater control and optimizing robot motion in terms of joint limits, obstacle avoidance, and energy efficiency. The integration of a linear guide is a practical solution for implementing a seventh DoF, enabling translational movement of the robot base. Research has already explored its benefits in various applications such as humanoid manipulators, industrial robots, and robots for agriculture.