self-sensing soft-rigid hybrid continuum robot

Through my work at the Boston University Material Robotics Lab I researched novel robotic systems with focus areas in surgical robotics, soft robotics, origami-inspired design, pop-up book MEMs fabrication techniques, actuator and sensor development, and robot motion control.

This work is set to be published later this year, when more details can be discussed.

More generally, work in the lab involved a high work ethic in a fast-paced environment where significant progress was expected weekly. Robot actuators and sensors were fabricated daily operating laser cutters, 3D printers, and robot assembly. I designed tests, automated test scripts in Python, and processed the data in Matlab obtaining data from equipment like F/T sensors, Instron, and an electromagnetic tracker. Development of the electronic systems for novel processes was essential, so designing boards for the robotic system, ordering custom printed circuit boards for IC sensors, and working with the oscilloscope were day-to-day activities. Consideration of the robot kinematics and mapping sensor values of each module to a position of the robot based on the kinematics was a large part of the work I completed.