Responsibilities include:

• Engineered a ROS 2 telepalpation system by integrating a 4x4 soft pneumatic array on a rigid platform; implemented a novel mapping algorithm where OptiTrack motion data drives the stage and K-Means clustered high-resolution tactile sensing data drives the pneumatics. (Published in IEEE Haptics Symposium; extended framework in prep. for IEEE T-RO).
• Developed the open-source ”Soft Haptics Display (SHD) Toolkit,” a full-stack rapid prototyping platform featuring a low-cost, 4×4 soft wearable fingertip tactile display with a spatial resolution of 4 mm and Python-based control GUI. (Published in IEEE UR).
• Engineered a VR-haptic integration framework in Unity (C#) integrating a wearable haptic glove with physics engines; characterized system latency (<11ms) via high-speed optical tracking (300 FPS); quantified the JND of grasp aperture. (Published in IEEE ToH).
• Engineered a 2-DOF robotic haptic platform utilizing computer vision-based trajectory tracking (OpenCV) and a hybrid feedforward-feedback control architecture; achieved visuo-haptic synchronization for medical training simulations (Published in IEEE ToH).

Responsibilities include:

• Designed MRI-compatible pneumatic tactile actuator (PIC32/custom PCB board) delivering 1.57N–11.60N constant-force; fMRI validation with 6 subjects mapped neural activity to primary/secondary somatosensory cortices and premotor regions.

Responsibilities include:

• Led a 4-member team to deploy an autonomous ground vehicle with visual SLAM (Simultaneous Localization and Mapping) and ROS 2 Galactic navigation.

Responsibilities include:

• Integrated Intel T265 tracking cameras and embedded computers across three omnidirectional robots, implementing AprilTag detection in ROS/OpenCV.
• Developed a C++/OpenCV pipeline to calibrate and undistort dual fisheye lenses and generated 3D point clouds for disparity maps in ROS Noetic to enable real-time obstacle avoidance for mobile robots.
• Implemented formation control and leader-follower algorithms for swarm control.