@article{chen2013optimal,
  title={Optimal subtask allocation for human and robot collaboration within hybrid assembly system},
  author={Chen, Fei and Sekiyama, Kosuke and Cannella, Ferdinando and Fukuda, Toshio},
  journal={IEEE Transactions on Automation Science and Engineering},
  volume={11},
  number={4},
  pages={1065--1075},
  year={2013},
  publisher={IEEE}
}