The Workspace Monitoring System developed at INESC TEC provides a seamless way to increase the awareness and safety of human operators. It allows for the definition and monitoring of virtual safety zones (3D volumes) to reduce the risk of collision between robots and humans. Holograms of the safety zones are projected on the shop floor, making the operator aware of the robot’s workspace and potential collision risks. It also allows reliable safeguarding robots by tracking the worker’s hands and head. Whenever safety zones are breached, workers receive immediate visual and audio warnings. In addition, the system triggers the robot to change its speed, allowing the object to move away from the robot’s path, or even to come to a complete stop, thus preventing imminent collisions.