For low-force drills we don't use any gear. For sparring we use a "3-weapon rated" fencing mask and a cup, at a minimum. Some wear padded gauntlet gloves. I have a pair but I'm not crazy about them. Some people wear elbow/knee pads.
The gear is the subject of no small amount of experimentation. It's not like you can go to the sporting goods store and buy medieval fencing gear. There are some guys in the national group that make and sell specialized gear like full-head hard plastic helmets with a face grill that's better than a fencing mask because it better protects the back of the head. Might look into that.
What looks better than padded gauntlets are motocross gloves. There was a guy that used those and they offer better finger sensitivity and still have a hard plastic shell over the knuckles, which is nice. But I didn't wear any gloves when I sparred... just the mask. As it turned out it wasn't my hands that got hit anyway. It was everything else. :-) When we spar we do use controlled full speed and intent ~except~ for the kill. When we get the chance to take the kill strike we're taught to pull it just at the last moment. It can be an attention-getting thump but not so hard as to break a bone. One of those wooden swords or a steel blunt can easily snap even the larger bones. But we just tend to get nice bruises. Part of the training is to keep your sparring at the level of control that you've managed to develop. Don't get out of control. Ratchet up the intensity according to what you're able to properly execute. Know where your tip is and know where it is about to be.
Of course, there's a certain amount of trust you have to have in your sparring partner and have him develop in you.
Obviously, there'll always be some sacrifice of realism for the sake of safety. A real fight to the death with sharp swords would have a special intensity that it's simply not possible to fully duplicate in practice. Just like any combat training. But you can get close enough to be useful and insightful enough to know what to do and have confidence when that day comes. Though, it's kinda unlikely in my case.
Sounds like your group has arrived at a suitable balance of safety vs realism in the sparring rounds. The idea of getting whacked continously with a heavy wooden stick sure would separate the posers from the afficiandos in short order.
The lore of the weaponry of the past is quite strong in some, it’s a fascinating look into the way things were once upon a time.