The increased demand for collaborative tasks between humans and robots has caused an upsurge in newer sensor technologies to detect, locate, track, and monitor workers in a robot workspace. The challenge is to balance the accuracy, cost, and responsiveness of the system to maximize the safety of the worker. This work presents a sensor system that combines six 60GHz radar modules and six cameras to accurately track the location and speed of the workers in all 360 degrees around the robot. While the radar is tuned to identify moving targets, the cameras perform pose detection to evaluate the humans in the workspace and when fused, provide 4D pose estimates: 3D location and velocity. A custom PCB and enclosure is designed for it and it is mounted to the end-effector of a UR-10 robot. This system performs all of its computation on an Nvidia AGX Xavier for offline processing which allows it to be mounted to a mobile robot for outdoor use. Lastly, this system was evaluated for accuracy in human detection as well as accuracy in velocity measurements through numerous static and dynamic scenarios for the robot, the human, and both combined.

Library of Congress Subject Headings

Human-robot interaction--Safety measures; Robots, Industrial--Safety measures; Proximity detectors

Publication Date


Document Type


Student Type


Degree Name

Microelectronic Engineering (MS)

Department, Program, or Center

Microelectronic Engineering (KGCOE)


Ferat Sahin

Advisor/Committee Member

Jamison Heard

Advisor/Committee Member

Carlos Barrios


RIT – Main Campus

Plan Codes