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. 2021 Dec 10;8:758099. doi: 10.3389/frobt.2021.758099

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Copyright © 2021 Douthwaite, Lesage, Gleirscher, Calinescu, Aitken, Alexander and Law.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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An isometric view of the CSI framework environment applied to a collaborative welding cell case-study. Based in Unity^® 3D, digital twins of an operator, collaborative robot manipulator, safety scanner and light-barrier are shown.