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Yet, the collaboration between humans and robots is severely limited by the aspects of the safety and comfort of human operators. In this paper, we outline the use of extended reality (XR) as a way to test and develop collaboration with robots. We focus on virtual reality (VR) in simulating collaboration scenarios and the use of cobot digital twins. This is specifically useful in situations that are difficult or even impossible to safely test in real life, such as dangerous scenarios. We describe using XR simulations as a means to evaluate collaboration with robots without putting humans at harm. We show how an XR setting enables combining human behavioral data, subjective self-reports, and biosignals signifying human comfort, stress and cognitive load during collaboration. Several works demonstrate XR can be used to train human operators and provide them with augmented reality (AR) interfaces to enhance their performance with robots. We also provide a first attempt at what could become the basis for a human\u2013robot collaboration testing framework, specifically for designing and testing factors affecting human\u2013robot collaboration. The use of XR has the potential to change the way we design and test cobots, and train cobot operators, in a range of applications: from industry, through healthcare, to space operations.<\/jats:p>","DOI":"10.3390\/electronics11111726","type":"journal-article","created":{"date-parts":[[2022,5,29]],"date-time":"2022-05-29T23:43:03Z","timestamp":1653867783000},"page":"1726","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":40,"title":["Virtual Reality for Safe Testing and Development in Collaborative Robotics: Challenges and Perspectives"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4452-0414","authenticated-orcid":false,"given":"Sergi Berm\u00fadez i","family":"Badia","sequence":"first","affiliation":[{"name":"FCEE, Nova Lincs, University of Madeira, 9020-105 Funchal, Portugal"}]},{"given":"Paula Alexandra","family":"Silva","sequence":"additional","affiliation":[{"name":"DEI, CISUC, University of Coimbra, 3030-788 Coimbra, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6269-6192","authenticated-orcid":false,"given":"Diogo","family":"Branco","sequence":"additional","affiliation":[{"name":"FCEE, Nova Lincs, University of Madeira, 9020-105 Funchal, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8280-9887","authenticated-orcid":false,"given":"Ana","family":"Pinto","sequence":"additional","affiliation":[{"name":"CeBER, University of Coimbra, 3030-788 Coimbra, Portugal"}]},{"given":"Carla","family":"Carvalho","sequence":"additional","affiliation":[{"name":"CINEICC, University of Coimbra, 3030-788 Coimbra, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4903-3554","authenticated-orcid":false,"given":"Paulo","family":"Menezes","sequence":"additional","affiliation":[{"name":"ISR, DEEC, University of Coimbra, 3030-788 Coimbra, Portugal"}]},{"given":"Jorge","family":"Almeida","sequence":"additional","affiliation":[{"name":"CINEICC, University of Coimbra, 3030-788 Coimbra, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3816-4372","authenticated-orcid":false,"given":"Artur","family":"Pilacinski","sequence":"additional","affiliation":[{"name":"CINEICC, University of Coimbra, 3030-788 Coimbra, Portugal"},{"name":"Department of Neurosurgery, The Faculty of Medicine, University Hospital Knappschaftskrankenhaus Bochum GmbH, Ruhr-University Bochum, 44892 Bochum, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"590271","DOI":"10.3389\/fpsyg.2020.590271","article-title":"E-Leadership and Teleworking in Times of COVID-19 and Beyond: What We Know and Where Do We Go","volume":"11","author":"Contreras","year":"2020","journal-title":"Front. 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