For collaborative robotics applications, many systems have addressed general handling issues in recent years. Depending on the industrial context, these systems bring physical and cognitive feelings that result in the acceptance of their users. Transparency qualifies the ability of a robot to follow the movements imposed by the operator without noting any resistant effort. The objective of this article is to develop a methodology that mixes the approach highlighting the human factors and their correlation to robotic criteria in the case of a passive manipulation arm with six degrees of freedom produced by the Neoditech company. An exploratory study was then conducted to measure criteria such as time, speed, and effort during manipulation along with criteria based on a technological level, personality and technology acceptance model-method questionnaires. From there, we uncovered a correlation between the user’s personality, particularly their lack of neuroticism, and their means of evaluating the device through its usefulness, comfort, and indicators of mechanical behavior. This study is a preliminary analysis of user behaviors and traits that affect technological acceptance when dealing with a comanipulation arm. This work offers a framework for similar future analyses and recommends mechanical adjustments to the arm for increased user acceptance.