Safety

Introduction

The Cassie robot is a research device, not a consumer product. Cassie may be operated only by trained adults who have read and understand both of these safety instructions and the operations guide and who are skilled in safely operating experimental laboratory equipment. Under no circumstances should untrained personnel, bystanders, or children be within the workspace of the robot when it is powered on or when the battery is installed.

Limitation of Liability

Any information given in this manual regarding safety must not be construed as a warranty by Agility Robotics that the robot will not cause injury or damage even if all safety instructions are complied with.

Warning Symbols in this Manual

The following table defines the safety symbols and danger levels used throughout this manual.

Symbol	Meaning
⚠DANGER	Indicates a hazardous situation that, if not avoided, will result in death or serious injury.
⚠WARNING	Indicates a hazardous situation that, if not avoided, could result in death or serious injury.
⚠CAUTION	Indicates a hazardous situation that, if not avoided, could result in minor or moderate injury.
NOTICE	Indicates information considered important but not hazard related.

General Precautions

⚠ WARNING: Untrained personnel or children should never control the robot or be in the robot's workspace when it is powered on. The workspace of Cassie includes the entire kinematic space of the robot as well as any area that the robot may have access to during operation, including areas that may be accessed as a result of uncommanded or anomalous movement. A safe exclusion zone that includes the entire workspace of Cassie should be maintained at all times when the robot has the battery installed or is in use.

⚠ CAUTION: It is your responsibility to safely operate Cassie. If you have any questions about safe operations or doubt your ability to maintain a safe working environment, do not operate the robot without further training.

⚠ CAUTION: Cassie is not a toy or consumer device. It is not safe for untrained personnel to approach or touch the robot unless it is powered down with the battery removed and is securely mounted so that no joints can move and present a pinch hazard.

⚠ WARNING: Risk of electric shock, use only in a dry location.

⚠ WARNING: Do not clean or service the robot unless it is completely powered down with the battery removed and safely stored. Clean the exterior of the robot only with a cloth moistened with water; use no other solvents.

⚠ WARNING: The physical structure of Cassie contains electrically conductive materials; do not operate in any environment where it may come in contact with an external source of electricity.

⚠ WARNING: Cassie is capable of sudden, powerful movements when powered on.

⚠ WARNING: Wear eye protection when operating the robot - large forces are present in the mechanical structure. If the robot is being operated or serviced in a manner that may result in it falling from a height, wear appropriate foot and head protection in addition to safety glasses.

Mechanical Precautions

⚠ CAUTION: Uncontrolled falls of the robot during operation may result in injury or damage to persons or property. Ensure that the workspace is free of anything that may be damaged in a fall.

⚠ CAUTION: Transport Cassie using only the supplied case (for the robot) and drum (for the battery). Do not transport Cassie without it being secured in the case - it is not stable and may damage a vehicle or injure occupants.

NOTICE: Only handle the robot when powered off with the battery removed. When handling the robot, wear gloves and be aware of possible pinch points.

NOTICE: The front and rear shells of the robot should only be removed with the robot securely restrained.

NOTICE: If the robot is suspended from or attached to a safety tether, ensure that both the tether and supporting structure can handle both the static weight of the robot and any dynamic loads, with an appropriate safety factor. Do not store the robot using a safety tether.

Maintenance Precautions

⚠ CAUTION: Agility Robotics may at its sole discretion provide parts and instructions for the user to repair a portion of the robot. Except as specified in writing for a particular repair, do not attempt to modify or repair any part of the robot. Personnel who participate in field repairs must be familiar with accepted best practices for the service and maintenance of experimental laboratory equipment. When in doubt, return the robot to Agility Robotics for service.

⚠ WARNING: Shock, Fire, or Explosion Hazard: There are no user serviceable parts in the battery. Do not attempt to modify or repair the battery. The motor-transmission assemblies do not contain any user serviceable parts.

⚠ WARNING: Modification of any part of the robot, even if the modification appears incidental, may impact built-in hardware or software safety mechanisms and create an unsafe condition.

Research and Development Precautions

⚠ CAUTION: It is impossible to predict the interactions of user-developed control software with the robot hardware. User-developed software should be tested in the following manner:

• First, test extensively in simulation.
• Second, test on the robot using the lowest possible joint torques, and with additional emergency stop capabilities and mechanical restraints on the robot.
• Remember that untrained personnel or children should never control the robot or be in the robot's workspace when it is powered on. The workspace of Cassie includes the entire kinematic space of the robot as well as any area that the robot may have access to during testing. A safe exclusion zone should be maintained at all times when the robot has the battery installed or is in use.

⚠ WARNING: Cassie is a research device only. It is not intended for use in any end-user application. Cassie must not be deployed for use beyond a controlled research environment.

Battery Safety

⚠ DANGER: The Cassie battery is a prototype device shipped under 49 CFR 173.185.(e) Low production runs and prototypes. PASSENGER AIRCRAFT TRANSPORT PRESENTS A SERIOUS RISK TO PERSONS AND PROPERTY AND IS NOT LEGAL. DO NOT SHIP BY CARGO AIRCRAFT. SHIP ONLY BY HAZMAT GROUND WITH APPROPRIATE LABELING. USE ONLY THE SHIPPING MATERIALS PROVIDED WITH THE BATTERY. Lithium battery regulations change frequently and this documentation may not be current - anyone shipping or transporting the battery is solely responsible for complying with the then-current US and international regulations.

⚠ WARNING: Shock, Fire, or Explosion Hazard: Cassie comes with a charger specific to the included battery. Do not use any other charger with the battery or modify the charger in any way. Charge the battery only when it is removed from the robot and placed on a non-conductive, non-flammable surface away from any combustible materials.

⚠ WARNING: Shock Hazard: Do not attempt to use a power tether ("shore power") with the robot. Use only the included battery.

⚠ WARNING: Shock Hazard: Do not charge the battery if any part of the charger, charger power cord, battery connector, or battery is damaged.

⚠ WARNING: Shock, Fire, or Explosion Hazard: Do not crush, puncture, dismantle, or modify the battery pack. Store and charge the battery at room temperature only. Do not short circuit the battery or expose to any form of liquid. Do not drop the battery or expose to other mechanical shocks.

⚠ WARNING: Shock, Fire, or Explosion Hazard: Inspect both the robot and battery pack after any fall that occurs while operating the robot. Do not use the robot if there is any visible or suspected damage to the battery pack.

⚠ WARNING: Shock, Fire, or Explosion Hazard: Do not charge the battery pack if it is leaking, if it has any visible damage, or if you suspect it to be damaged.

⚠ WARNING: Chemical exposure: If the battery is leaking, do not allow the liquid to come into contact with skin or eyes. In the event of exposure, seek medical attention immediately.

⚠ WARNING: Chemical exposure: Vermiculite is used as packing material for the battery and is mildly hazardous. When packing or unpacking the battery, an N95 respirator should be worn and any spilled vermiculite should be wiped up with a damp cloth.

NOTICE: When not in use or charging, store the battery in its shipping container away from flammable materials.

NOTICE: The battery should not be disposed of with municipal trash or recycling. Contact your local authorities for proper disposal procedures.