Safety is becoming an important issue as the next generation of robots will be working closely with the humans possibly without any physical safety cages. To increase the safety, the robot must be able to detect and react to collisions possibly using only the robot’s internal sensors (e.g. joint position and joint velocity). This poster presents the theory of sensor-less collision detection and isolation using residual energy and residual momentum approaches from the literature and its implementation on the COMPI robot platform. The implementation does not require any torque sensing or external sensors and hence, it is sensor-less. Additionally, a roadmap to safer physical human robot interaction is presented in the form a collision event pipeline which uses these two approaches to identify, classify and react towards different collisions. In the future work, the collision event pipeline will be implemented and extended.