Method & standards
Calculated per ISO 10218-2:2025 (Annex A method; formerly ISO/TS 15066:2016, Tables A.2/A.3).
Formulae (ISO/TS 15066 Annex A)
mL = part + gripper (effective payload) mR = M / 2 + mL (A.4 — M = total moving mass) μ = (mH·mR) / (mH + mR) (A.3 — reduced mass) v_F = factor·F_QS / √(μ·k·1000) (A.5 — force-limited) v_P = factor·p_QS·A / √(μ·k·1000) (A.6 — pressure-limited) v = min(v_F, v_P) (governing per region)
Annex A constants (Tables A.2 / A.3 / A.4)
| Region | mH (kg) | k (N/mm) | F_QS (N) | p_QS (N/cm²) | E_max (J) |
|---|---|---|---|---|---|
| Skull / forehead ⚠ | 4.4 | 150 | 130 | 130 | 0.23 |
| Face ⚠ | 4.4 | 75 | 65 | 110 | 0.11 |
| Neck | 1.2 | 50 | 150 | 140 | 0.84 |
| Back / shoulders | 40 | 35 | 210 | 160 | 2.5 |
| Chest / sternum | 40 | 25 | 140 | 120 | 1.6 |
| Abdomen | 40 | 10 | 110 | 140 | 2.4 |
| Pelvis | 40 | 25 | 180 | 210 | 2.6 |
| Upper arm / elbow | 3 | 30 | 150 | 190 | 1.5 |
| Forearm / wrist | 2 | 40 | 160 | 180 | 1.3 |
| Hand / fingers | 0.6 | 75 | 140 | 190 | 0.49 |
| Thigh / knee | 75 | 50 | 220 | 220 | 1.9 |
| Lower leg | 75 | 60 | 130 | 210 | 0.52 |
Disclaimer
This result is a design-phase engineering estimate, not a certification. Final validation requires physical force/pressure measurement with a PFMD per ISO/PAS 5672:2023. It is one input to an ISO 12100 risk assessment, not a substitute for it. Results depend on correct inputs (M = total moving mass, A = the smaller contact area). Pressure limits are pain-onset values; force limits correspond to minor injury (AIS ≤ 1). The integrator remains responsible for the risk assessment and safety-parameter configuration.