  The technical specification ISO/TS 15066 provides the foundational elements
for assessing the safety of collaborative human-robot cells, which are the
cornerstone of the modern industrial paradigm. The standard implementation of
the ISO/TS 15066 procedure, however, often results in conservative motions of
the robot, with consequently low performance of the cell. In this paper, we
propose an energy tank-based approach that allows to directly satisfy the
energetic bounds imposed by the ISO/TS 15066, thus avoiding the introduction of
conservative modeling and assumptions. The proposed approach has been
successfully validated in simulation.
