Especially for the second mode, it is crucial to establish means for intuitive control by the human operators, which may be non-expert users. There are two modes for this: physical collaboration (with explicit and intentional contact between human and robot), and contactless collaboration (where the actions are guided by an exchange of information, e.g., in the form of body gestures, voice commands, or other modalities).
Collaboration is the capability of performing robot tasks with direct human interaction and coordination.