Before revision:  The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds that a moving robot is allowed to exert on human body parts during impact (for the back of the hand, 280 N for transient and 140 N for quasi-static contact), along with a simple formula to obtain maximum allowed speed of the robot in the whole workspace.
After revision:  The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds that a moving robot is allowed to exert on human body parts during impact , along with a simple formula to obtain maximum allowed speed of the robot in the whole workspace.