This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, i.e. ISO/TS 15066, by examining how they are obtained and which assumptions support them. We clarify the interpretation and practical impact of key simplifying assumptions, show how these modeling choices affect both safety and performance across the system, and indicate specific design parameters that can be adjusted in safety-critical control implementations. Numerical examples are provided to quantify performance degradation induced by common approximations and simplifying design choices. Furthermore, the fundamental role of energy in safety assessment is emphasized, and focused insights are offered on the existing body of work concerning energy-based safety methodologies.

翻译：本文旨在通过考察其推导过程及其所依据的假设，对物理人机交互中普遍认可的安全约束（即ISO/TS 15066）提供一个清晰而严谨的理解。我们阐释了关键简化假设的内涵与实际影响，展示了这些建模选择如何影响整个系统的安全性与性能，并指出了在安全关键控制实现中可调整的具体设计参数。文中提供了数值算例，以量化常见近似与简化设计选择导致的性能下降。此外，本文强调了能量在安全评估中的根本性作用，并对现有基于能量的安全方法学研究成果提供了聚焦性见解。