About

I've always been fascinated by the complexity and dexterity of the human hand, one of our most remarkable tools. In this project, I did full-stack robot development of an anthropomorphic hand that replicates human dexterity using cable-driven mechanisms.

Imitation learning has been gaining popularity for robot motor skill acquisition. In this project, I explored different policy architectures, and created a framework for training visuoservo policy on my Franka FER and XHand robot combo based on the LeRobot library.

As a senior mechanical engineer currently working at J&J, I am mainly responsible for hardware system design on the Monarch Surgical Platform, the first robotic platform for minimally invasive diagnostic and therapeutic procedures in the lungs and kidneys.

I work on many projects related to the robotic arm and instrument manipulator, both on the hardware and software front.

Neocis Inc. is a surgical robotics company focused on dental implant space, and the developer of Yomi, the only FDA cleared dental surgical platform.

I designed and developed joint actuators for a 7-dof robot arm and many peripheral systems around them on the second generation Yomi S system.

Harmonic Bionics Inc. is the developer of Harmony SHR, an exoskeleton designed for upper extremity functional therapy.

I developed Harmony SHR platform and pre-market prototypes as a mechanical engineer co-op. I was responsible for a major CAD service region, and designed components using various manufacturing techniques.

Hand Tracking Streamer is a lightweight hand telemetry utility that turns a Meta Quest headset into a precision controller for robotics teleoperation and motion capture.

Built on the Meta Interaction SDK, it streams 21-landmark hand data and 6-DoF wrist pose to a PC in real time, making it suitable for robot control, imitation learning, and gesture-based prototyping.

Playing a musical instrument is the epitome of human dexterity, requiring precision control, coordination, and real-time manipulation with feedback. In this project, I teach BiDexHand to play Baroque music with me, starting from J.S. Bach's Well-Tempered Klavier.

Impedance control lets robots interact more naturally by shaping how they respond to forces during contact. In this project, I use MuJoCo to simulate and compare different impedance-control strategies, examining how each affects compliance and manipulation performance.

Open-source, high-performance teleoperation library for the Franka FER robots and more.

Love a game of putt-putt? Check out how machine learning, computer vision, and kinematic control turn the Franka FER Robot into a mini-golf ace - sinking hole-in-ones from anywhere like a champ.

It's not every day you get to teach a robot how to pass a pen like a teammate. In this project, I calibrated a Trossen Robotics PincherX100 robot arm using an RGB-D camera. The arm was tasked to locate, pick up a pen, and hand it off to other robots.

Point clouds are common data format used in robotics. In this project, we implemented a custom PointNet architecture and augmented it with RGB color on the point cloud to classify objects in a custom dataset we generated.

Applying concepts like robotic manipulation, forward kinematics, and linear control, I created a CoppeliaSim simulation that showed a KUKA youBot moving a box from one location to another with precision and efficiency.

The Laboratory for Intelligent Decision and Autonomous Robots (LIDAR Lab) led by Prof. Ye Zhao at GaTech focuses research on robotic system and interactions.

While in LIDAR, I led a sub-team of 7 undergraduate students and worked on designing, fabricating and integrating a biomimetic upper body robot, Athena. My team focused on designing and characterizing mechatronics systems that emulate human muscle architecture.

The Exoskeleton and Prosthetic Intelligent Controls (EPIC) Lab at Georgia Tech, led by Professor Aaron Young, is devoted to the design and improvement of powered orthotic and prosthetic control systems.

While in EPIC, I worked on the Assistive Hip Exoskeleton project as an undergraduate RA. I designed and machined the housings and most major components on the series elastic actuators of the hip exo.