The Fourth Industrial Revolution, also known as Industry 4.0, is rapidly transforming industrial manufacturing processes by introducing advanced automation, intelligent edge technology and data driven AI tools to the work flow. In this context, collaborative robotics is emerging as an attractive technology to optimise production efficiencies. They exploit advanced actuation and sensing technologies to enable collaborative robots work safely in close proximity with their human co-workers. Such flexibility is allowing even middle and small-scale enterprises to implement automation despite the typically reduced footprint and layout of their small-scale manufacturing lines. This has led to an increase in demand for human-robot collaboration (HRC) technology which is able to promote effective and safe interaction between humans and robots.