{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,20]],"date-time":"2026-07-20T03:47:12Z","timestamp":1784519232252,"version":"3.55.0"},"reference-count":79,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2024,7,12]],"date-time":"2024-07-12T00:00:00Z","timestamp":1720742400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"\u201cICT of the Future DE-AT AI\u201d program of the Austrian Ministry for Climate Action, Environment, Energy, Mobility, Innovation, and Technology","award":["FFG 887636"],"award-info":[{"award-number":["FFG 887636"]}]},{"name":"\u201cICT of the Future DE-AT AI\u201d program of the Austrian Ministry for Climate Action, Environment, Energy, Mobility, Innovation, and Technology","award":["01MJ21005A"],"award-info":[{"award-number":["01MJ21005A"]}]},{"name":"German Federal Ministry for Economic Affairs and Climate Action (BMWK)","award":["FFG 887636"],"award-info":[{"award-number":["FFG 887636"]}]},{"name":"German Federal Ministry for Economic Affairs and Climate Action (BMWK)","award":["01MJ21005A"],"award-info":[{"award-number":["01MJ21005A"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents a framework that integrates digital twin and virtual reality (VR) technologies to improve the efficiency and safety of human\u2013robot collaborative systems in the disassembly domain. With the increasing complexity of the handling of end-of-life electronic products and as the related disassembly tasks are characterized by variabilities such as rust, deformation, and diverse part geometries, traditional industrial robots face significant challenges in this domain. These challenges require adaptable and flexible automation solutions that can work safely alongside human workers. We developed an architecture to address these challenges and support system configuration, training, and operational monitoring. Our framework incorporates a digital twin to provide a real-time virtual representation of the physical disassembly process, allowing for immediate feedback and dynamic adjustment of operations. In addition, VR is used to simulate and optimize the workspace layout, improve human\u2013robot interaction, and facilitate safe and effective training scenarios without the need for physical prototypes. A unique case study is presented, where the collaborative system is specifically applied to the disassembly of antenna amplifiers, illustrating the potential of our comprehensive approach to facilitate engineering processes and enhance collaborative safety.<\/jats:p>","DOI":"10.3390\/robotics13070104","type":"journal-article","created":{"date-parts":[[2024,7,12]],"date-time":"2024-07-12T08:16:57Z","timestamp":1720772217000},"page":"104","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["A Framework for Enhanced Human\u2013Robot Collaboration during Disassembly Using Digital Twin and Virtual Reality"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6805-8178","authenticated-orcid":false,"given":"Timon","family":"Hoebert","sequence":"first","affiliation":[{"name":"Practical Robotics Institute Austria, 1200 Vienna, Austria"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stephan","family":"Seibel","sequence":"additional","affiliation":[{"name":"Boxx IT Solutions, 69509 Bonsweiher, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6416-3453","authenticated-orcid":false,"given":"Manuel","family":"Amersdorfer","sequence":"additional","affiliation":[{"name":"Institute of Mechanical Process Engineering and Mechanics, Karlsruhe Institute of Technology, 76187 Karlsruhe, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2799-491X","authenticated-orcid":false,"given":"Markus","family":"Vincze","sequence":"additional","affiliation":[{"name":"Automation and Control Institute, TU Wien, 1040 Vienna, Austria"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wilfried","family":"Lepuschitz","sequence":"additional","affiliation":[{"name":"Practical Robotics Institute Austria, 1200 Vienna, Austria"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Munir","family":"Merdan","sequence":"additional","affiliation":[{"name":"Practical Robotics Institute Austria, 1200 Vienna, Austria"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,7,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"341","DOI":"10.1002\/cite.201900107","article-title":"Disassembly 4.0: A Review on Using Robotics in Disassembly Tasks as a Way of Automation","volume":"92","author":"Poschmann","year":"2020","journal-title":"Chem. 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