All projects
LarynxNylon concentric tube robotFirst-author ISMR 2023 paper proposing concentric tube robots whose tubes have multiple constant-curvature sections instead of the usual single bend, so that fewer tubes can match a standard three-tube design. Built as the first fully nylon CTR, intended for microlaryngeal surgery.HeartAtrial fibrillation drug-delivery catheterUC San Diego senior design, co-mentored by Cathiva: a catheter with six flexible arms that delivers gene therapeutics into the atrium. I built the deployable needles and the expandable whisk.Lower legLimbShield prosthetic linerM.Eng. capstone: pressure, temperature and moisture sensors built into a standard gel liner for below-knee prostheses. I handled sensor integration and the MATLAB heat map on a 3D limb scan.HandLayer-jamming haptic gloveGraduate haptics course project: a glove whose thumb and index finger lock up under vacuum, so you feel yourself grasp a virtual object. I characterized the pressure control and analyzed the grasping-force perception study.RobotFour-bar lift competition robotMAE 3 robot contest, Fall 2022: a two-wheeled robot with a 15:1 gearbox driving a four-bar lift and a fork-and-fangs claw, built to pull objects out of a locker and set them on a model of Geisel Library. I ran the risk-reduction testing of the lift. Design and Innovation Award.