The novel framework leverages Preference-Based Optimization (PBO) and considers three renowned interaction parameters: the robot's velocity profile, the separation distance between the human and the robot, and the vertical proximity to the user's head. By continuously refining these parameters based on qualitative feedback from human collaborators, the system adjusts the robot's trajectories dynamically. This personalization aims to create a safe and ergonomic environment for the user. A chemical scenario was developed as a testbed for this framework.

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