Power & Force Limiting (ISO/TS 15066)

This simulator visualizes the two-track contact-force rule at the heart of collaborative-robot safety certification: a two-link arm repeatedly swings a padded tool toward a chosen point on a human dummy, and each contact is scored against ISO/TS 15066's biomechanical limit table for that body region. In free (transient) contact the force comes from a spring-impact model driven by approach speed and the robot's reduced effective mass; in clamped (quasi-static) contact — the trapped, no-escape case — the force is simply whatever the robot's own force-limiting controller setting allows. Switch modes and regions and watch the same robot pass in one scenario and fail in another.