The application of Human-Robot Collaboration on manufacturing systems has been increasing in the last years and comes hand-in-hand with growth of importance of Industry 4.0 related technologies. The fields of applications of Human-Robot collaboration are vast and what is sought is to relieve human operators of tedious and repetitive tasks, integrating the automation, repetitiveness, accuracy, and flexibility that characterizes the collaborative robots, and at the same time keeping the cognitive and soft skills of human workers. The quality control and inspection of products is something that, considering the high customer requirements present on today’s market, must be ensured and defective parts cannot arrive to the final users.