Based on a current industry necessity identified by the main author as a Quality Management Intern at an automotive industry, the problem of fasteners installation in door trim assembly was established for in-depth analysis and improvement. The cited issue results in loss or detachment of fasteners during the transportation of door components between the manufacturing and assembly facilities, generating high warranty costs for the organization. The improvement proposal, executed in a laboratory setting at Universidad Iberoamericana, contemplates a Human-Robot Collaborative System to enhance the previous step of placing door trims in final assembly. Human operators validate that fasteners are properly fixed while commanding an UR3 collaborative robot to verify if the correct types of fasteners are utilized for each automobile model. Upon detection, human operators receive real-time notifications, enabling rapid corrective actions to rectify errors before they become a warranty concern. In addition to the UR3 collaborative robot, soft grippers and a 2.5D vision system are harnessed to assure the safety integrity of human operators performing their duties in open workstations. This method not only mitigates future costs, but also highlights the value of human supervision and intervention in conjunction with robotic systems. Instead of replacing human operators, this new approach enables them to achieve superior results by leveraging the precision and efficiency offered by these technologies. Ultimately, the present research project aims to strengthen the relationship between industry and academia with the purpose of solving challenges brought by Industry 4.0.