{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T12:07:24Z","timestamp":1784203644127,"version":"3.55.0"},"reference-count":28,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T00:00:00Z","timestamp":1759449600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["www.mdpi.com"],"crossmark-restriction":true},"short-container-title":["Symmetry"],"abstract":"<jats:p>Robotic systems play an increasingly significant role in both education and industry; however, access to physical robots remains a challenge due to high costs and operational risks. This work presents a training platform based on Digital Twins, aimed at active learning in the control of robotic manipulators, with a focus on the UFACTORY 850 arm. The proposed approach integrates mathematical modeling, interactive simulation, and experimental validation, enabling the implementation and testing of control strategies in three virtual scenarios that replicate real-world conditions: a laboratory, a service environment, and an industrial production line. The system relies on kinematic and dynamic models of the manipulator, using maneuverability velocities as input signals, and employs ROS as middleware to link the Unity 2022.2.14 graphics engine with the control algorithms developed in MATLAB R2022a. Experimental results demonstrate the accuracy of the implemented models and the effectiveness of the control algorithms, validating the usefulness of Digital Twins as a pedagogical tool to support safe, accessible, and innovative learning in robotic engineering.<\/jats:p>","DOI":"10.3390\/sym17101638","type":"journal-article","created":{"date-parts":[[2025,10,3]],"date-time":"2025-10-03T07:57:27Z","timestamp":1759478247000},"page":"1638","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Digital Twin Integration for Active Learning in Robotic Manipulator Control Within Engineering 4.0"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-7303-9654","authenticated-orcid":false,"given":"Fernando J.","family":"Pantusin","sequence":"first","affiliation":[{"name":"Departamento de El\u00e9ctrica, Electr\u00f3nica y Telecomunicaciones, Universidad de las Fuerzas Armadas\u2013ESPE, Av. General Rumi\u00f1ahui S\/N, Sangolqui 171103, Ecuador"},{"name":"Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan-CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan J5402, Argentina"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9085-4402","authenticated-orcid":false,"given":"Jessica S.","family":"Ortiz","sequence":"additional","affiliation":[{"name":"Departamento de El\u00e9ctrica, Electr\u00f3nica y Telecomunicaciones, Universidad de las Fuerzas Armadas\u2013ESPE, Av. General Rumi\u00f1ahui S\/N, Sangolqui 171103, Ecuador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0246-8523","authenticated-orcid":false,"given":"Christian P.","family":"Carvajal","sequence":"additional","affiliation":[{"name":"Instituto de Autom\u00e1tica (INAUT), Universidad Nacional de San Juan-CONICET, Av. San Mart\u00edn (Oeste) 1109, San Juan J5402, Argentina"},{"name":"Centro de Investigaci\u00f3n MIST, Facultad de Ingenier\u00edas, Universidad Tecnol\u00f3gica Indoam\u00e9rica, Ambato 180103, Ecuador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8127-1595","authenticated-orcid":false,"given":"V\u00edctor H.","family":"Andaluz","sequence":"additional","affiliation":[{"name":"Departamento de El\u00e9ctrica, Electr\u00f3nica y Telecomunicaciones, Universidad de las Fuerzas Armadas\u2013ESPE, Av. General Rumi\u00f1ahui S\/N, Sangolqui 171103, Ecuador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-2963-2944","authenticated-orcid":false,"given":"Lenin G.","family":"Yar","sequence":"additional","affiliation":[{"name":"Departamento de El\u00e9ctrica, Electr\u00f3nica y Telecomunicaciones, Universidad de las Fuerzas Armadas\u2013ESPE, Av. 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San Mart\u00edn (Oeste) 1109, San Juan J5402, Argentina"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,10,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ghaffari, M., Zhang, R., Zhu, M., Lin, C.E., Lin, T.Y., Teng, S., Li, T., Liu, T., and Song, J. (2022). Progress in Symmetry Preserving Robot Perception and Control Through Geometry and Learning. Front. Robot. AI, 9.","DOI":"10.3389\/frobt.2022.969380"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"9725","DOI":"10.1007\/s10639-022-10951-7","article-title":"Educational Technology Adoption: A Systematic Review","volume":"27","year":"2022","journal-title":"Educ. Inf. 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