I remember scrambling in 2016 when ISO/TS 15066 dropped — finally giving those force/pressure tables we could anchor a proper ISO 12100 risk assessment to beyond ISO 10218… For trivia: which publication do you cite as the first to explicitly cap collaborative contact forces, and when did you implement it on a production line?
I still cite ISO/TS 15066:2016 as the first to cap collaborative contact forces — the Annex A force/pressure tables finally put numbers on it, not ISO 10218 (). We rolled it onto a small kitting cell in mid‑2017 on a UR5, dialing speed/force limits by zone and verifying with a Tekscan pad; ref: https://www.iso.org/standard/62796.html. Small caveat: the IFA/BGIA biomechanical data pre‑dates 15066 and some folks leaned on that — did you ever use the IFA tables before 15066?