Load exerted in the joints of the UR5 (binary state)

I am working on a robotic rehabilitation strategy with the UR5 for the upper limb. The human hand exerts a certain load on the extremity of the robot.
In order to know if the UR5 is the most suitable for this task, I am trying to find out the force/load exerted on each joint (binary state), but I am having some troubles calculating this loads. What is the most efficient way to calculate this? Is there a tool in Visual Components to do this automatically?

Thank you in advance,

VC does not have dynamic models, so no forces are calculated by the discrete simulation engine.

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