By Lauren Weber And Rachel Emma Silverman 

Companies like Uber Technologies Inc., cleaning service Handybook Inc., and odd-job facilitator TaskRabbit have captured the imagination of consumers and investors because their apps turn a smartphone into a remote control capable of summoning a driver, housekeeper or errand-doer.

The leaders of those companies, which rely on freelance labor, describe their workers as micro-entrepreneurs at the vanguard of a new, flexible future of work in which people only do the jobs they like, when they like.

Yet a host of lawsuits, protests and forums organized by and for workers suggest that many flexible laborers feel less enthusiastic about the new model of work. Current and former workers for Uber, Amazon Inc.'s Mechanical Turk and Handybook, better known as Handy, say on-demand work platforms give them little control over the terms of their labor, and complain that the contracts they're required to accept force them to shoulder personal and financial risk without the returns or advantages they'd hoped for.

The rumblings of discontent--including a letter-writing campaign by Mechanical Turk workers to Amazon chief executive Jeff Bezos--don't yet pose an existential threat to companies using on-demand labor, but they highlight the ambivalence that many workers feel toward the platforms that supply or supplement their income.

"Many people are really liberated by the income they are able to earn and the flexibility over their schedules," says Shelby Clark, the chief executive of Peers, a membership organization of roughly 250,000 independent contractors for on-demand firms. "At the same time, working in the sharing economy can feel isolating and confusing."

At issue for many is whether the contractors should be considered employees--a debate that has surfaced in recent court decisions as more large employers rely on contract work.

Last year, an appeals court ruled that FedEx Corp. incorrectly classified as contractors some delivery-truck drivers who were required to wear FedEx uniforms, drive company vehicles and groom themselves according to the company's appearance standards.

Similar lawsuits are facing firms like Uber, Lyft and Handy, which provides housecleaning and handyman services for as little as $25 an hour.

With a few swipes of Handy's mobile app, customers book services, and the company's algorithm alerts its army of 5,000 freelance cleaners, painters and IKEA furniture assemblers. According to one lawsuit, the New York-based firm allegedly requires workers to abide by strict guidelines on the job, from when to knock and ring customers' doorbells, to how to use the bathroom. Handy had previously "encouraged" employees to wear company T-shirts but no longer does so, according to a spokesman.

Vilma Zenelaj cleaned houses for Handy in Los Angeles for a brief period last year before being fired for subcontracting cleaning work to her sister Greta. They are the lead plaintiffs in a class-action suit that alleges Handy's workers should be covered by minimum-wage rules and other employee protections because they lack the control over their work that characterizes a true freelancer. "We are not robots; we are not a remote control; we are individuals," says Vilma.

A Handy spokesman says the suit, along with a similar one brought in August and dismissed in December, is without merit. The company has filed motions to move the case into arbitration, a condition contained in its contracts with workers.

Workers use the Handy platform "because it provides much needed flexibility," he says, adding that its cleaners and handymen earn more than $18 an hour on average.

App-enabled workers don't fit neatly into a regulatory landscape that recognizes only two types of worker: employees in traditional work relationships and independent contractors. Employees are generally covered by protections such as minimum-wage and antidiscrimination statutes, workers' compensation, and union-organizing rights, while the latter have no such protections. Employers in many situations favor the contractor model since it frees them from certain tax obligations and legal liabilities.

New laws changing the system appear unlikely any time soon, so courts and companies may sort out the complexities first, employment experts say.

One suit in federal court in San Francisco could bring changes to the way companies pay on-demand workers. CrowdFlower Inc., a startup that breaks down digital jobs, such as data entry, into tiny tasks performed by millions of workers, has been winding down a class-action suit alleging that the company violated minimum-wage laws.

The nearly 20,000 workers in the suit say they should have been classified as CrowdFlower employees, and not contractors, citing the company's work assignments, minute instructions as to how they should do their work and work-monitoring algorithms. CrowdFlower's co-founder, according to the suit, said in a video interview that the firm sometimes paid workers $2 to $3 an hour, rather than the federal minimum wage of $7.25, or paid workers in points for various online reward programs and videogame credits.

CrowdFlower has offered more than $585,000 to settle with plaintiffs, but a California district judge rejected its offer in December, indicating that the company didn't go far enough in compensating workers. CrowdFlower declined to comment on the lawsuit, but a spokeswoman says the firm supports "the upholding of fair wage practices."

Venky Ganesan, a partner at Menlo Ventures, a venture-capital firm with investments in numerous on-demand firms including Uber, Handy, Munchery Inc., and Rover.com, says that the independent-contractor model benefits workers and businesses both--and it isn't a worry for investors as long as labor is still abundant.

Gauging the size of the app-enabled workforce is difficult, in part because so many workers join and abandon freelance platforms; for example, Uber counted about 162,000 "active drivers" in December, but the company doesn't disclose the total number of drivers registered on the platform. About 34% of the labor force, or 53 million Americans, work in some form of contingent arrangement, according to a 2014 report written by the Freelancers Union and Elance-oDesk Inc., an online marketplace for freelance work.

"We are going toward becoming a freelance nation," says Mr. Ganesan. "The $40-an-hour manufacturing job is not going to come back," he adds, "but the $25 local services job" represents a viable alternative.

Kristy Milland of Toronto says odd jobs on the Mechanical Turk platform, like checking the accuracy of a software program's search results, help her support her family, but calls her experience with the site "a conundrum."

She is a leader of the online forum TurkerNation.com, which gives Mechanical Turk laborers a place to air complaints and connect; a similar forum, Uberpeople.net, does the same for Uber's drivers.

"At the same time that I'm using it to make a living, I'm fighting against it," she says. "It's not paying fairly and it's taking advantage of people in a situation where labor laws don't apply."

An Amazon spokeswoman says Mechanical Turk workers enjoy their flexibility, adding that the platform "gives them a wide variety of HITs (Human Intelligence Tasks) to choose from."

According to a new study commissioned by Uber, drivers earn an average of $19 per hour before expenses. The majority are "very satisfied with the platform, they have complete control over when they work, and they're very satisfied with the income opportunity," says David Plouffe, a former White House official who heads Uber's policy and strategy team. "We obviously are comfortable with our business model."

"In some ways it's saving me while I search for other employment," says an Uber driver in New Jersey who started with the service last year on a part-time basis while working in technology sales. Since losing his job recently, the man, who declined to be named since he doesn't want Uber to cut him off, now drives for the company full-time and estimates he earns roughly $500 a week after expenses and depreciation, working 40 or more hours.

"If you want to 'Uber' as a moonlighting thing, it's great," he says. But driving full-time, "basically you're in a service industry job making $8 to $10 per hour and getting clobbered on the depreciation of your vehicle."

Zirtual, which provides remote personal assistants, initially used independent contractors, but switched to an employee model after growing tired of arm's-length relationships with contractors, says CEO Maren Kate Donovan. Now considered full employees, Zirtual assistants now stay longer with the company, and start at $11 an hour, she says.

"At first people like the flexibility of being a contractor, but at the end of the day most people don't have the luxury to bring in half a paycheck," she says.

Write to Lauren Weber at lauren.weber@wsj.com and Rachel Emma Silverman at rachel.silverman@wsj.com

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