@article{article, title = {{A modular digital twinning framework for safety assurance of collaborative robotics}}, publisher = {{Frontiers Media SA}}, url = {{}}, year = {{2021}}, month = {{12}}, author = {{Douthwaite JA and Lesage B and Gleirscher M and Calinescu R and Aitken JM and Alexander R and Law J}}, doi = {{10.3389/frobt.2021.758099}}, volume = {{8}}, journal = {{Frontiers in Robotics and AI}}, note = {{Accessed on 2024/12/25}}}