How to calculate the required torque

I'm currently creating a 5-degree-of-freedom (5-DOF) robot manipulator within a cobot (collaborative robot) structure. If anyone is familiar with this setup, I would greatly appreciate your assistance. Specifically, I'm seeking guidance on integrating safety features, optimizing motion planning for efficient and collision-free trajectories, and ensuring smooth collaboration with human operators. Your expertise and insights would be invaluable for the success of this project. 
Thank you .