Since Industry 4.0, development in automation technology cases a transformation in many industries to integrate the latest technology and reinforce human-automation collaboration in cyber-physical systems. It is expected such collaboration can leverage the capabilities of both human and automation agents and achieve team synergy. To achieve this objective, this paper proposes dynamic task allocation considering human factors for human-automation symbiosis. In this paper, analysis and design of the team cognition-aware task allocation system are elaborated. The task allocation problem is formulated with team cognitive performance in the optimization objective function. A two-dimensional genetic algorithm is proposed to solve this allocation problem. An application case of medical product assembly is presented to validate the proposed solution.