Designed and fabricated the end-effector for a semi-humanoid robot. This project was developed during my internship at Reazon Human Interaction Lab, Summer 2024.
Built the first prototype for a liver biopsy robot using 3D printing, hydrostatic actuators, and non-magnetic materials.
CAD demo of robot inside MRI chamber
Prototype testing
Built a test rig to analyze linearity and force-position characteristics of hydrostatic actuators used for haptic teleoperation.
System Schematic
Position Control Data
Force Control Data
Built a breathing phantom using air blowers and MR-visible liver to simulate human motion inside an MRI scanner.
Open-loop actuation test results
Instrumented a CNC machine with sensors to collect data during drilling/milling. Data used to explore predictive maintenance and process diagnostics.
Evaluated two soft finger designs using CV tracking and kinematic simulations.
