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Demand for automated processes in the manufacturing industry is now shifting toward flexible, human-centered systems that combine productivity and high product quality, thus combining the advantages of automated and robotic systems with the high-value-added skills of operators and craftsmen. This trend is even more crucial for small and medium-sized enterprises operating in the “Made in Italy” fashion industry. The paper presents the study, simulation, and preliminary testing of a collaborative robotic system for shoe polishing that can reduce manual labor by limiting it to the finishing stage of the process, where the aesthetic result is fully achieved, with a benefit also in terms of ergonomics for the operator. The influence of process parameters and design solutions are discussed by presenting preliminary test results and providing hints for future developments.