The Human Robot Time and Motion (HRTM) method provides generic basic elements which can be performed by a human worker or a robot.

D. Schönberger, R. Lindorfer and R. Froschauer, "Modeling Workflows for Industrial Robots Considering Human-Robot-Collaboration," 2018 IEEE 16th International Conference on Industrial Informatics (INDIN), Porto, 2018, pp. 400-405, doi: 10.1109/INDIN.2018.8471999. [DOI]