Adding an external load to a robotic manipulator

I want to study the load that a human arm exerts on a robotic manipulator (UR5, in my particular case) during robotic rehabilitation of the upper limb.
How can I add that load at the extremity of the robot? And then, how can I calculate the load that is being exerted on each joint of the robot?

Thank you in advance,

You would need to do your own math for it. VC only does kinematics for robots and other motion, not any forces or dynamics calculations.

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