This paper introduces a new tool that can track the amount of pressure on joints caused by physical activities. The tool helps assess the risk of injury during tasks involving humans and robots working together. Previous methods only looked at how external loads affect joint movements, but this tool also considers the internal forces pushing on the body. The researchers tested the tool in simulations and on five people in a lab, showing that it can help monitor ergonomics and prevent pain and injuries by guiding movements to safer positions.