OpenArm

Built the hardware behind OpenArm 01. Total BOM cost ~$6500. Nominal Payload 4.1kg, Peak Payload 6.0kg. Arm weight 5.5kg. Visit: https://openarm.dev/

End-Effector of Teleoperated Bartender

Designed and fabricated the end-effector for a teleoperated bartender capable of handling fragile and glassware.

MR-Compatible Surgical Robot

Built the first prototype for a liver biopsy robot using 3D printing, hydrostatic actuators, and non-magnetic materials as a part of Mechatronics and Controls Lab, UCLA.

CAD demo of robot inside MRI chamber

Prototype testing

Low-Friction Hydrostatic Actuator Testing

Built a test rig to analyze linearity and force-position characteristics of hydrostatic actuators used for haptic teleoperation.

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System Schematic

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Position Control Data

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Force Control Data

MR-Compatible Motion Phantom

Built a breathing phantom using air blowers and MR-visible liver to simulate human motion inside an MRI scanner.

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Open-loop actuation test results

Smart Machining Data Collection

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Instrumented a CNC machine with sensors to collect data during drilling/milling. Data used to explore predictive maintenance and process diagnostics.

Soft Robotic Finger

Evaluated two soft finger designs using CV tracking and kinematic simulations.

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