This work introduces a digital twin (DT) framework that unifies robotic inspection and immersive virtual reality (VR) for the assessment of civil infrastructure. The platform utilizes multiple non-destructive evaluation (NDE) modalities, including Impact Echo (IE), Ultrasonic Surface Waves (USW), Infrared Thermography (IRT), Electrical Resistivity (ER), and Ground-Penetrating Radar (GPR), and synchronizes them within a shared spatial reference for real-time data fusion and visualization.

The system was implemented on a UR3 robotic arm to perform autonomous scanning of concrete slabs using various NDE sensors. A laser surface profiler (LSP) captures geometric data, while the inspection results are streamed to the digital twin environment, enabling inspectors to observe, control, and reconfigure scans through teleoperation and VR immersion.

The proposed framework enables remote, repeatable, and multi-modal inspection, transforming traditional NDE workflows into dynamic 3D environments that link physical experiments with virtual visualization. A conference paper based on this study has been published, and a journal manuscript is currently under review, expanding on the multi-sensor integration, real-time synchronization, and VR-based analysis modules.