This paper offers an in-depth examination of the ergonomics of human-centred assembly systems in Industry 4.0, where manual tasks remain essential. The use of advanced technologies such as motion capture (MOCAP) and virtual reality (VR) is analysed as ways to enhance system efficiency and improve worker well-being. The paper highlights the importance of optimising assembly system performance while considering both economic and human factors. Metrics to assess ergonomic risk and productivity are discussed based on human-centred technologies, and existing operational research models are explored to analyse how human factors could be considered in optimising system performance. Additionally, the paper explores potential future directions and how they could play a role in Industry 4.0.