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UBC Theses and Dissertations
A robotic workstation vision-based safety system for persons with physical disabilities Visser, Mitchell Dean
Abstract
The overall goal of this research project was to investigate and develop a vision-based safety system that would either solely, or in combination with another system, provide an acceptable level of safety for a user with a severe physical disability while operating a rehabilitative robotic workstation developed by the Neil Squire Foundation A system was developed that uses a single camera to track the user in a horizontal plane and uses feedback from the robot controller to calculate the position of the robot using kinematic equations. The system is controlled by a computer that can communicate with the robot controller and stop the robot if it detects a safety zone violation. Prior to the development of a vision-based safety system, a safety analysis was performed considering general rehabilitative robotic equipment and a user with a severe physical disability. This analysis revealed injury mechanisms such as collisions, pinning, and pinching and identified levels of injuries from life threatening injuries to undesired contact with the robot. The safety analysis was then specifically targeted to the Neil Squire Foundation robot and used to determine the performance requirements of a variety of safety systems, including a vision-based safety system. Testing of the vision-based safety system on the robotic workstation with potential users showed that the system fulfilled all the project specifications, including preventing all unintentional contact between user and the robot
Item Metadata
Title |
A robotic workstation vision-based safety system for persons with physical disabilities
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1996
|
Description |
The overall goal of this research project was to investigate and develop a vision-based safety
system that would either solely, or in combination with another system, provide an acceptable
level of safety for a user with a severe physical disability while operating a rehabilitative robotic
workstation developed by the Neil Squire Foundation
A system was developed that uses a single camera to track the user in a horizontal plane and
uses feedback from the robot controller to calculate the position of the robot using kinematic
equations. The system is controlled by a computer that can communicate with the robot
controller and stop the robot if it detects a safety zone violation.
Prior to the development of a vision-based safety system, a safety analysis was performed
considering general rehabilitative robotic equipment and a user with a severe physical
disability. This analysis revealed injury mechanisms such as collisions, pinning, and pinching
and identified levels of injuries from life threatening injuries to undesired contact with the
robot. The safety analysis was then specifically targeted to the Neil Squire Foundation robot
and used to determine the performance requirements of a variety of safety systems, including a
vision-based safety system. Testing of the vision-based safety system on the robotic
workstation with potential users showed that the system fulfilled all the project specifications,
including preventing all unintentional contact between user and the robot
|
Extent |
9253008 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-03-16
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0080895
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1996-11
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.