AbstractNumerical simulation has great potential to provide a more comprehensive understanding of human impact response to injury mechanisms. Finite Element (FE) models are used as a tool to study human injuries in greater detail, for example, the THUMS (Total Human Model Safety of TOYOTA) model, which is widely used as a reliable human model in different fields to predict human injuries such as fractures, internal organ damage, and brain tissue injuries. However, no available FE model can be used to simulate human‐robot collisions based on standards ISO/TS 15066 and the biomechanical characteristics of human soft tissues in vivo. The authors have developed a head model based on the structures (dimensions and anatomy) of the THUMS head model, specifically designed to simulate impact loads on the masticatory muscles. Based on medical imaging (MRI) data, the soft tissues at the location of the masticatory muscles in the THUMS head are transformed from monolayer to multilayer, that is, a composite geometry of skin‐fat‐muscle each with its own material model and parameters. The model was optimized and validated using the experimental data from the Fraunhofer IFF subjects study, which determined biomechanical thresholds for specific body locations in ISO/TS 15066 under dynamic collisions.