The German Institute of Robotics and Mechatronics presented, at the IEEE 2010, a safety demonstration with an industrial robotic arm.
In this case, they wanted to study the contact between a robot handling a sharp tool (scissors, kitchen knife, saw, scalpel) and human skin in order to prevent accidents that could happen in a factory.
A leg of pork was therefore used at the start of the video then the safety was tested on a man’s arm.
When the anti-collision option is disabled, it’s catastrophic, with the sharp tip going right into the leg of pork.
On the other hand, when the safety is on, the robot doesn’t damage the skin at all (entrance = 0 mm)