- Human–human joint-action in short-cycle repetitive handover tasks was investigated for a bottle handover task using a three-fold approach: work-methods field studies in multiple supermarkets, simulation analysis using an ergonomics software package and by conducting an in-house lab experiment on human–human collaboration by re-creating the environment and conditions of a supermarket. Evaluation included both objective and subjective measures. Subjective evaluation was done taking a psychological perspective and showcases among other things, the differences in the way a common joint-action is being perceived by individual team partners depending upon their role (giver or receiver). The proposed approach can provide a systematic method to analyze similar tasks. Combining the results of all the three analyses, this research gives insight into the science of joint-action for short-cycle repetitive tasks and its implications for human–robot collaborative system design.