From "prepare for the unknown" to "train for what's coming": A digital twin-driven and cognitive training approach for the workforce of the future in smart factories.

•On-the-go training approach for non-routine tasks with Prescriptive Analytics.•Proof-of-concept of a game-based training system driven by industrial digital twin.•Evolutionary fuzzy cognitive maps for deriving the implicit procedural knowledge.•Comparing expert's and learner's mental models to assess decisional flaws.•Competence development of a healthy and safe workforce in the smart factory.