Before revision:  Applying this to our scenario where the impact has a clamping nature, the allowed end effector speed on the whole robot workspace would be only 0.13 and 0.16 m/s for the UR10e and KUKA LBR iiwa , respectively.
After revision:  In this work, we measure the forces exerted by two collaborative manipulators ( UR10e and KUKA LBR iiwa , respectively.