Future manufacturing revolves around Industry 5.0, characterized by the widespread use of Cognitive Digital Twins (CDTs) to automate operations with minimal human intervention. Industry 5.0 is crucial for mitigating the effects of deglobalization through reshoring and nearshoring, bringing industries closer to consumers. A significant challenge with CDTs is their capital-intensive, slow deployment, which is highly specific to individual applications. This research introduces a novel approach to deploying CDTs in environments where sensing and actuation rely on wireless devices that power industrial mobile robotics. Specifically, this paper proposes a scheme to upgrade Internet of Things (IoT) protocols, which enable communication between Digital Twins (DTs) in Industry 4.0, to function as CDTs in Industry 5.0 by introducing an intelligent layer at the network edge. This layer is trained based on these well-known protocols and becomes capable of emulating the human behavior intrinsic to DTs.