Accepted at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). © 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Human-Robot Collaboration (HRC) plays a vital role in dynamic, high mix, low volume industrial scenarios such as remanufacturing, which frequently face workcell rearrangements. Traditional setups are constrained by power and data cabling, restricting modularity and reconfigurations, while the selection of commercial wireless devices suitable for real-time perception and safe collaboration are greatly limited in availability. This paper presents a highly flexible, wireless, 5G-based system that serves as a versatile experimental testbed for applications including remanufacturing, operator training, and user studies. To eliminate infrastructure barriers, the workcell integrates a novel battery-powered, multi-sensor platform prototype prioritizing low-latency transmission and sensor modularity. Additionally, to support operator safety and system adaptability across environmental shifts, the system integrates a computer vision module for object detection and pose estimation, further augmented for robust hand recognition. Trained on synthetic and real data, the model reliably detects oriented grasping poses and human hands across varying lighting and background conditions (with an mAP@50–95 of 97.74 ± 0.10% and a mean inference time of 12.5 ms). By accurately determining robot target poses and monitoring for human hands, it enhances operator safety while preserving the workcell’s high portability across different physical domains. Offloading these computationally intensive tasks to the edge via 5G, the proposed architecture contributes to resolving the bandwidth-latency trade-off. To demonstrate portability, the system was implemented at two internationally distinct sites in Hungary and Norway, and was evaluated across a combination of public and private, as well as Standalone and Non-Standalone 5G infrastructures. The performed network experiments produced results in round-trip response times down to 12 ms in case of compatible network-device pairings, suitable for safe, adaptive HRC. However, these measurements also revealed practical limitations related to interoperability in current 5G deployments that should be addressed in future works. Nonetheless, the achieved results demonstrate that the low latency required for real-time edge control is reachable in these rapidly reconfigurable industrial scenarios.