Characterising the Digital Twin: A systematic literature review
Open accessAbstract
While there has been a recent growth of interest in the Digital Twin, a variety of definitions employed across industry and academia remain. There is a need to consolidate research such to maintain a common understanding of the topic and ensure future research efforts are to be based on solid foundations. Through a systematic literature review and a thematic analysis of 92 Digital Twin publications from the last ten years, this paper provides a characterisation of the Digital Twin, identification of gaps in knowledge, and required areas of future research. In characterising the Digital Twin, the state of the concept, key terminology, and associated processes are identified, discussed, and consolidated to produce 13 characteristics (Physical Entity/Twin; Virtual Entity/Twin; Physical Environment; Virtual Environment; State; Realisation; Metrology; Twinning; Twinning Rate; Physical-to-Virtual Connection/Twinning; Virtual-to-Physical Connection/Twinning; Physical Processes; and Virtual Processes) and a complete framework of the Digital Twin and its process of operation. Following this characterisation, seven knowledge gaps and topics for future research focus are identified: Perceived Benefits; Digital Twin across the Product Life-Cycle; Use-Cases; Technical Implementations; Levels of Fidelity; Data Ownership; and Integration between Virtual Entities; each of which are required to realise the Digital Twin.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
High levels of fidelity represent some of the major limitations of bringing DTs up to the next level.
“Additionally, high levels of fidelity represent some of the major limitations of bringing DTs up to the next level [43].”
From Digital Twin Technology Challenges and Applications: A Comprehensive Review (2022) · cites this paper as [43]
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
Digital Twin: Mitigating Unpredictable, Undesirable Emergent Behavior in Complex Systems
Grieves, M., & Vickers, J. (2017) · Transdisciplinary Perspectives on Complex Systems · doi:10.1007/978-3-319-38756-7_4 · Cited by 3,727 · cited 2× · see citing works
“In a later paper [34], Grieves further aligned the Digital Twin to the product life-cycle through the expansion of the concept via the introduction of the Digital Twin Prototype, Digital Twin Instance, Digital Twin Aggregate, and Digital Twin Environment (defined in Table 1).”
BackgroundMethodDigital Twin in manufacturing: A categorical literature review and classification
Kritzinger, W., Karner, M., Traar, G., Henjes, J., & Sihn, W. (2018) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2018.08.474 · Cited by 3,612 · cited 10× · see citing works
“5 Fidelity [33] [80] [108] [24] [85] [8] [56] [88] [68] [112] [99] [78] [32] [111] [36] [7] [71] [63] [61] [73] [20] [67] [6] [4] [48] [55] [95] [16] [92] [98] [87] [9] [66] [110] [18] [89] [12]”
BackgroundInfluentialDigital twin-driven product design, manufacturing and service with big data
Tao, F., Cheng, J., Qi, Q., Zhang, M., Zhang, H., & Sui, F. (2018) · The International Journal of Advanced Manufacturing Technology · doi:10.1007/s00170-017-0233-1 · Cited by 2,920 · see citing works
The Digital Twin Paradigm for Future NASA and U.S. Air Force Vehicles
Glaessgen, E., & Stargel, D. (2012) · 53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference<BR>20th AIAA/ASME/AHS Adaptive Structures Conference<BR>14th AIAA · doi:10.2514/6.2012-1818 · Cited by 2,404 · see citing works
About The Importance of Autonomy and Digital Twins for the Future of Manufacturing
Rosen, R., von Wichert, G., Lo, G., & Bettenhausen, K. D. (2015) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2015.06.141 · Cited by 1,474 · cited 10× · see citing works
“5 Fidelity [33] [80] [108] [24] [85] [8] [56] [88] [68] [112] [99] [78] [32] [111] [36] [7] [71] [63] [61] [73] [20] [67] [6] [4] [48] [55] [95] [16] [92] [98] [87] [9] [66] [110] [18] [89] [12]”
InfluentialDigital twin shop-floor: a new shop-floor paradigm towards smart manufacturing
Tao, F., & Zhang, M. (2017) · IEEE Access · doi:10.1109/access.2017.2756069 · Cited by 1,397 · see citing works
Digital Twin—The Simulation Aspect
Boschert, S., & Rosen, R. (2016) · Mechatronic Futures · doi:10.1007/978-3-319-32156-1_5 · Cited by 1,158 · see citing works
Digital twin driven prognostics and health management for complex equipment
Tao, F., Zhang, M., Liu, Y., & Nee, A. Y. C. (2018) · CIRP Annals · doi:10.1016/j.cirp.2018.04.055 · Cited by 1,000 · see citing works
Digital twin-driven rapid individualised designing of automated flow-shop manufacturing system
Liu, Q., Zhang, H., Leng, J., & Chen, X. (2019) · International Journal of Production Research · doi:10.1080/00207543.2018.1471243 · Cited by 370 · see citing works
Modeling of Cloud-Based Digital Twins for Smart Manufacturing with MT Connect
Hu, L., Nguyen, N.-T., Tao, W., Leu, M. C., Liu, X. F., Shahriar, M. R., & Al Sunny, S. M. N. (2018) · Procedia Manufacturing · doi:10.1016/j.promfg.2018.07.155 · Cited by 219 · see citing works
Exploring the role of digital twin for asset lifecycle management
Macchi, M., Roda, I., Negri, E., & Fumagalli, L. (2018) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2018.08.415 · Cited by 216 · see citing works
Consistency check to synchronize the Digital Twin of manufacturing automation based on anchor points
Talkhestani, B. A., Jazdi, N., Schloegl, W., & Weyrich, M. (2018) · Procedia CIRP · doi:10.1016/j.procir.2018.03.166 · Cited by 119 · see citing works
The FMS Training Center - a versatile learning environment for engineering education
Toivonen, V., Lanz, M., Nylund, H., & Nieminen, H. (2018) · Procedia Manufacturing · doi:10.1016/j.promfg.2018.04.006 · Cited by 45 · cited 4× · see citing works
“Reported examples of these are largely manufacturing related [7,20,49,16,33,108,64,99, 105,52,106,30,71,54,14,109,27,35,17,91,48,55,101,15,63,104,21,112,- 95,9,80,36], although more speci fi c examples include: smart factories [57,5], iron and steel manufacturing process (coking, sintering, blast…”
BackgroundInfluential
Flagged first, then by citations
Research works printed but not linked: 43
- _ T D D I F F ] 51st CIRP Conference on Manufacturing Systems Stockholm May 16-18, [ 4 0 5
- Bitton, R., Gluck, T., Stan, O., Inokuchi, M., Ohta, Y., Yamada, Y., Yagyu, T., Elovici, Y., Shabtai, A., [ 4 0 9 _ T D $ D I F F ] 2018, Deriving a cost-effective digital twin of an ICS to facilitate security evaluation. [ 4 0 _ T D D I F F ] European Symposium on Research in Computer Security, 533-554.
- Borodulin, K., Radchenko, G., Shestakov, A., Sokolinsky, L., Tchernykh, A., Prodan, R., [ 4 1 1 _ T D $ D I F F ] 2017, Towards Digital Twins Cloud Platform: Microservices and Computational Workflows to Rule a Smart Factory. [ 4 1 _ T D D I F F ] Proceedings of the10th International Conference on Utility and Cloud Computing, 209-210.
- _ T D D I F F ] Proceedings of the TMCE 2018, .
- _ T D D I F F ] 2018 IEEE International Energy Conference (ENERGYCON) IEEE, .
- Chidester, A., Hinch, J., Mercer, T.C., Schultz, K.S., [ 4 2 0 _ T D $ D I F F ] 1999, Recording automotive crash event data. [ 4 T D D I F F ] Transportation Recording: 2000 and Beyond International Symposium on Transportation RecordersNational Transportation Safety BoardInternational Transportation Safety Association, .
- _ T D D I F F ] 2017 12th System of Systems Engineering Con- ference (SoSE) IEEE, 1-6.
- Damiani, L., Demartini, M., Giribone, P., Maggiani, M., Revetria, R., Tonelli, F., [ 4 2 2 _ T D $ D I F F ] 2018, Simulation and digital twin based design of a production line: a case study. [ 4 1 _ T D D I F F ] Proceedings of the International MultiConference of Engineers and Computer Scientists, .
- Damjanovic-Behrendt, V., [ 4 2 3 _ T D $ D I F F ] 2018, A digital twin-based privacy enhancement mechanism for the automotive industry. [ 4 1 _ T D D I F F ] 2018 International Conference on Intelligent Systems (IS), 272-279.
- Datta, S.P.A., 2016, Emergence of Digital Twins.. arXiv preprint arXiv:1610.06467. · arXiv
- Detzner, A., Eigner, M., et al, [ 4 2 5 _ T D $ D I F F ] 2018, A digital twin for root cause analysis and product quality monitoring. [ 4 2 4 _ T D D I F F ] DS92: Proceedings of the DESIGN 2018 15th International Design Conference, 1547-1558.
- Eastman, C., Teicholz, P., Sacks, R., Liston, K., 2011, BIM handbook: a guide to building information modeling for owners, managers, designers, engineers and contractors. John Wiley & Sons.
- _ T D D I F F ] Proceedings of the 4th ACM Workshop on Cyber-Physical System Security, 61-72.
- El Saddik, A., 2018, Digital twins: the convergence of multimedia technolo- gies. IEEE MultiMedia, 25:87-92.
- Ferguson, S., Bennett, E., Ivashchenko, A., 2017, Digital twin tackles design challenges. World Pumps, 2017:26-28http://www.sciencedirect.com/sci- ence/article/pii/S0262176217301396.
- Funk, K., Reinhart, G., 2017, Digital twins at the crossroad of production, product and technology. in: MikroSystemTechnik 2017 (Congress, Proceed- ings of, VDE), pp.1-4.
- Heber, D., Groll, M., et al, 2017, Towards a digital twin: how the blockchain can foster E/E-traceability in consideration of model-based systems engineering. DS 87-3 Proceedings of the 21st International Conference on Engineering Design (ICED 17) Vol 3: Product (Services and Systems Design, Vancouver, Canada, 21-25 August), pp.321-330.
- Kova9 cevi c, M., [ 4 1 2 _ T D $ D I F F ] 2018, Digital Twin. [ 4 T D D I F F ] The 17th International Conference on Information and Knowledge Engineering 2018, .
- Kraft, E.M., [ 4 2 5 _ T D $ D I F F ] 2018, Developing a digital thread/digital twin aerodynamic performance authoritative truth source. [ 4 1 _ T D D I F F ] 2018 Aviation Technology Integra- tion and Operations Conference, 4003.
- Kuts, V., Modoni, G.E., Terkaj, W., Tähemaa, T., Sacco, M., Otto, T., [ 4 3 0 _ T D $ D I F F ] 2017, Exploiting factory telemetry to support virtual reality simulation in robotics cell. [ 4 T D D I F F ] International Conference on Augmented Reality Virtual Reality and Computer Graphics, 212-221.
- Laengle, S., Modak, N.M., Merigó, J.M., De La Sotta, C., 2018, Thirty years of the international journal of computer integrated manufacturing: a bibliometric analysis. Int J Comput Integr Manuf, 31:1247-1268.
- _ T D D I F F ] 2018 IEEE Industrial Cyber-Physical Systems (ICPS), 684-689.
- Mohammadi, A., Jahromi, M.G., Khademi, H., Alighanbari, A., Hamzavi, B., Ghanizadeh, M., Horriat, H., Khabiri, M.M., Jahromi, A.J., 2018, Understanding kid's digital twin. in: Proceedings of the International Conference on Infor- mation and Knowledge Engineering (IKE) (The Steering Committee of The World Congress in Computer Science, Computer), pp.41-46.
- Negri, E., Fumagalli, L., Macchi, M., 2017, A review of the roles of digital twin in CPS-based production systems. Procedia Manuf, 11:939-948http://www.sci- encedirect.com/science/article/pii/S2351978917304067.
- Qi, Q., Tao, F., 2018, Digital twin and big data towards smart manufacturing and industry 4.0: 360 degree comparison. IEEE Access, 6:3585-3593.
- Rambow-Hoeschele, K., Nagl, A., Harrison, D.K., Wood, B.M., Bozem, K., Braun, K., Hoch, P., [ 4 2 3 _ T D $ D I F F ] 2018, Creation of a digital business model builder. [ 4 1 _ T D D I F F ] 2018 IEEE International Conference on Engineering Technology and Innovation (ICE/ ITMC), 1-7.
- _ T D D I F F ] 2017 Annual IEEE International Systems Conference (SysCon), 1-8.
- _ T D D I F F ] 2016 IEEE International Symposium on Systems Engineering (ISSE), 1-6.
- Schroeder, G., Steinmetz, C., Pereira, C.E., Muller, I., Garcia, N., Espindola, D., Rodrigues, R., [ 4 4 1 _ T D $ D I F F ] 2016, Visualising the digital twin using web services and augmented reality. [ 4 4 _ T D D I F F ] 2016 IEEE 14th International Conference on Industrial Informatics (INDIN), 522-527.
- Stadler, A., Kolbe, T.H., 2007, Spatio-semantic coherence in the integration of 3D city models. in: Proceedings of the 5th International ISPRS Symposium on Spatial Data Quality ISSDQ 2007 (Enschede, The Netherlands, 13-15 June 2007), .
- Stark, R., Damerau, T., 2019, Digital Twin.Springer Berlin Heidelberg, Berlin, Heidelberg: 1-8. http://dx.doi.org/10.1007/978-3-642-35950-7_16870-1. · DOI
- _ T D D I F F ] ARCOM 2018: 34th Annual Conference At Belfast UK, .
- Tharma, R., Winter, R., Eigner, M., et al, [ 4 2 5 _ T D $ D I F F ] 2018, an approach for the implemen- tation of the digital twin in the automotive wiring harness field. [ 4 4 _ T D D I F F ] in: DS92: Proceedings of the DESIGN 2018 15th International Design Conference, 3023- 3032.
- Tranfield, D., Denyer, D., Smart, P., 2003, Towards a methodology for devel- oping evidence-informed management knowledge by means of systematic review. Br J Manage, 14:207-222.
- Ullman, D., 1992, The mechanical design process. 2nd ed. McGraw-Hill.
- Verdouw, C., Kruize, J.W., 2017, Digital twins in farm management. PA17 -The International Tri-Conference for Precision Agriculture in 2017 (Hamilton), .
- Wagner, C., Grothoff, J., Epple, U., Drath, R., Malakuti, S., Grüner, S., Hoffmeis- ter, M., Zimermann, P., [ 4 3 9 _ T D $ D I F F ] 2017, The role of the Industry 4. 0 asset administration shell and the digital twin during the life cycle of a plant. [ 4 2 1 _ T D D I F F ] 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 1-8.
- Xiang, F., Zhi, Z., Jiang, G., [ 4 2 3 _ T D $ D I F F ] 2018, Digital twins technology and its data fusion in iron and steel product life cycle. [ 4 1 7 _ T D D I F F ] 2018 IEEE 15th International Conference on Networking Sensing and Control (ICNSC), 1-5.
- _ T D D I F F ] 2017 Ninth International Conference on Ubiquitous and Future Networks (ICUFN), 922-926.
- Zhang, H., Liu, Q., Chen, X., Zhang, D., Leng, J., 2017, A digital twin-based approach for designing and multi-objective optimization of hollow glass production line. IEEE Access, 5:26901-26911.
- _ T D D I F F ] 2018 IEEE 15th International Confer- ence on Networking Sensing and Control (ICNSC), 1-5.
- Zhang, M., Zuo, Y., Tao, F., [ 4 2 3 _ T D $ D I F F ] 2018, Equipment energy consumption management in digital twin shop-floor: A framework and potential applications. [ 4 1 7 _ T D D I F F ] 2018 IEEE 15th International Conference on Networking Sensing and Control (ICNSC), 1-5.
- Zhang, Q., Zhang, X., Xu, W., Liu, A., Zhou, Z., Pham, D.T., [ 4 4 9 _ T D $ D I F F ] [ 3 7 8 _ T D $ D I F F ] 2017, Modeling of digital twin workshop based on perception data. [ 4 3 _ T D D I F F ] International Conference on Intelligent Robotics and Applications, 3-14.
Cited by
Sorted by citations
Digital Twin Technology Challenges and Applications: A Comprehensive Review
Botín-Sanabria, D. M., Mihaita, A.-S., Peimbert-García, R. E., Ramírez-Moreno, M. A., Ramírez-Mendoza, R. A., & Lozoya-Santos, J. D. J. (2022) · Remote Sensing · doi:10.3390/rs14061335 · Cited by 878 · see citing works
Digital twin: benefits, use cases, challenges, and opportunities
Attaran, M., & Celik, B. G. (2023) · Decision Analytics Journal · doi:10.1016/j.dajour.2023.100165 · Cited by 704 · see citing works
Digital Twins: State of the art theory and practice, challenges, and open research questions
Sharma, A., Kosasih, E., Zhang, J., Brintrup, A., & Calinescu, A. (2022) · Journal of Industrial Information Integration · doi:10.1016/j.jii.2022.100383 · Cited by 587 · see citing works
A survey on AI-driven digital twins in Industry 4.0: smart manufacturing and advanced robotics
Huang, Z., Shen, Y., Li, J., Fey, M., & Brecher, C. (2021) · Sensors · doi:10.3390/s21196340 · Cited by 418 · see citing works
Ramu, S. P., Boopalan, P., Pham, Q.-V., Maddikunta, P. K. R., Huynh-The, T., Alazab, M., Nguyen, T. T., & Gadekallu, T. R. (2022) · Sustainable Cities and Society · doi:10.1016/j.scs.2021.103663 · Cited by 301 · see citing works
Berger, K., Schöggl, J.-P., & Baumgartner, R. J. (2022) · Journal of Cleaner Production · doi:10.1016/j.jclepro.2022.131492 · Cited by 216 · see citing works
Digital Ecosystems for Developing Digital Twins of the Earth: The Destination Earth Case
Nativi, S., Mazzetti, P., & Craglia, M. (2021) · Remote Sensing · doi:10.3390/rs13112119 · Cited by 196 · see citing works
Digital twins in infrastructure: definitions, current practices, challenges and strategies
Broo, D. G., & Schooling, J. (2023) · International Journal of Construction Management · doi:10.1080/15623599.2021.1966980 · Cited by 184 · see citing works
Zeb, S., Mahmood, A., Hassan, S. A., Piran, M. J., Gidlund, M., & Guizani, M. (2022) · Journal of Network and Computer Applications · doi:10.1016/j.jnca.2021.103309 · Cited by 132 · see citing works
Digital Twins in Civil Infrastructure Systems
Callcut, M., Cerceau Agliozzo, J.-P., Varga, L., & McMillan, L. (2021) · Sustainability · doi:10.3390/su132011549 · Cited by 132 · see citing works
Digital twins and industrial internet of things: uncovering operational intelligence in Industry 4.0
Attaran, S., Attaran, M., & Celik, B. G. (2024) · Decision Analytics Journal · doi:10.1016/j.dajour.2024.100398 · Cited by 122 · see citing works
Warke, V., Kumar, S., Bongale, A., & Kotecha, K. (2021) · Sustainability · doi:10.3390/su131810139 · Cited by 103 · see citing works
Stavropoulos, P., & Mourtzis, D. (2022) · Design and Operation of Production Networks for Mass Personalization in the Era of Cloud Technology · doi:10.1016/b978-0-12-823657-4.00010-5 · Cited by 80 · see citing works
Lee, J. Y., Pyon, C. U., & Woo, J. (2023) · Electronics · doi:10.3390/electronics12153207 · Cited by 50 · see citing works
Probabilistic machine learning based predictive and interpretable digital twin for dynamical systems
Tripura, T., Desai, A. S., Adhikari, S., & Chakraborty, S. (2023) · Computers & Structures · doi:10.1016/j.compstruc.2023.107008 · Cited by 47 · see citing works
The Economics of Digital Twins
Kshetri, N. (2021) · Computer · doi:10.1109/mc.2021.3055683 · Cited by 39 · see citing works
Walton, R. B., Ciarallo, F. W., & Champagne, L. E. (2024) · Computers & Industrial Engineering · doi:10.1016/j.cie.2024.110241 · Cited by 33 · see citing works
Reinpold, L. M., Wagner, L. P., Gehlhoff, F., Ramonat, M., Kilthau, M., Gill, M. S., Reif, J. T., Henkel, V., Scholz, L., & Fay, A. (2025) · Journal of Intelligent Manufacturing · doi:10.1007/s10845-023-02278-y · Cited by 27 · see citing works
Cameron, S., & Hamidzadeh, B. (2024) · Telematics and Informatics Reports · doi:10.1016/j.teler.2024.100135 · Cited by 11 · see citing works
- Authors
- Jones, D., Snider, C., Nassehi, A., Yon, J., & Hicks, B.
- Affiliations
- University of Bristol (GB)
- Corresponding author
- Jones, David
- Venue
- CIRP Journal of Manufacturing Science and Technology
- Publisher
- Elsevier BV
- Published
- 2020-05
- Volume
- 29
- Pages
- 36-52
- ISSN
- 1755-5817 (ISSN-L)
- OpenAlex
- W3012041784
- Cited by
- 2,422
- References
- 13
- Citations by year
- 2026: 470 · 2025: 479 · 2024: 461 · 2023: 462 · 2022: 343 · 2021: 180 · 2020: 27
- FWCI
- 20.20
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Licence
- Locations
- CIRP journal of manufacturing science and technology (publishedVersion, cc-by)
- Explore Bristol Research (publishedVersion, cc-by)
- Funders
- Engineering and Physical Sciences Research Council
- Topics
- Physical Sciences › Engineering › Industrial and Manufacturing Engineering › Digital Transformation in Industry
- Physical Sciences › Engineering › Industrial and Manufacturing Engineering › Applied Advanced Technologies
- Physical Sciences › Engineering › Industrial and Manufacturing Engineering › Flexible and Reconfigurable Manufacturing Systems
- Keywords
- digital twin, digital twin framework, metrology, twinning rate, product life cycle, data ownership, knowledge gaps
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review