Robot compliance control plays an important role in physical human-robot collaboration. However, the uncertainty of the environment can affect the stability of interaction, especially when contact loss between the robot and the environment occurs, which can lead to physical impact and cause damage to the robot and task components. To address this issue, a Cartesian space impedance controller with restricted energy and power is proposed. This approach enhances safety by adjusting the stiffness and damping of the controller to enforce limits on energy and transmitted power. Meanwhile, the passivity of the controller is ensured by introducing an energy tank, which provides an energy storage mechanism to regulate the energy flow between the controller and the robot. On this basis, a power scaling factor is designed to adjust the energy exchange rate between the energy tank and the controller, limiting the power flow from the controller to the robot. This avoids system instability caused by the rapid release of energy from the tank, thereby further improving the safety and robustness of the robot. The stability of the closed-loop system is rigorously proven based on the Lyapunov theory, and the effectiveness of the proposed controller is verified through Matlab/SimScape simulation experiments.