- Abstract Human-Robot (HR) synchronization is one of the challenges of Human-Robot Collaboration (HRC). This paper presents three models to deal with synchronization in an HR system performing a cooperative task: timing based model, sensor based model and adaptive model. Environmental, task-dependent and agent-intrinsic influencing parameters affecting the process of synchronization are defined. Analysis methods and performance measure techniques are proposed to study the degree of influence of the different parameters in various dynamic scenarios. The proposed models are classified qualitatively according to the needs of the different operational scenarios and parameters. Finally, an example of a typical industrial scenario is presented to describe the application and significance of these models and methods.