The talk will be based on the research at Aalborg University, which focuses on developing interactive manipulation systems for manufacturing tasks such as part feeding and assembly. The concern with such systems is that they should be programmable easily and flexibly by the laymen at the factory floor, and they should respond to the fast changing tasks and conditions. To this end we have developed the concept of "task-level-programming" that integrates pre-defined "skill" modules of the robot with kinesthetic teaching by the operators. The skill modules have the features of being easily programmable and being the constitutive elements of complex manipulation tasks performed by robot, all to be programmed by a layman worker. Different versions of the system are tested on a number of different factory floors for various manufacturing tasks. The extensive experience with actual factory floor applications does not only demonstrate the success of the concept but also pinpoints challenges, bottlenecks, and future directions for application of assistive robotics in industrial settings.