Cyber-physical systems (CPS) are co-engineered interacting networks of physical and computational components. Most future technologies are believed to have much more human-aware. Accordingly, integrating human context in CPS instead of placing it outside the system boundary is becoming increasingly important. It is essential to have a systematic understanding of the principles that how to integrate human into CPS as human-in-the-loop cyber-physical systems (HiLCPS). However, in the literature, the roles that human should take in HiLCPS are not clearly identified. The HiLCPS are heterogeneous systems with high uncertainty and complexity associated with humans, thus specifying human roles in HiLCPS enables the optimum system performance by fully considering human perspectives. This study focuses on synthesizing the existing HiLCPS literature to gain the insight of human roles. Three HiLCPS configurations are identified. For each configuration, human roles with related studies are reviewed. Furthermore, the associated challenges and opportunities are identified and summarized.
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