Featured Research
(Bio)degradable Soft Robotics
I created a (bio)degradable soft robot actuator using green chemistry principles, based upon the idea that soft robotics will eventually need to address robot end of life. The actuator was made of greener chemicals using a non-hazardous process, ultimately producing a safely degradable actuator. Published in: International Journal of Intelligent Robotics and Applications, MRS Advances. Working with: mLab at Oregon State University.
High Resolution Silicone 3D Printing
I optimized the silicone formulation and designed the analytical process to characterize the curing and fluid rheological properties of a 2-part silicone. I also developed methods to characterize the resulting printed line structures and some geometrical limits of the printed parts. The materials science and processing focus enabled us to 3D print curing silicone with zero support. The printer design and operation instructions are also open source to facilitate development in the soft device community. Published in: 3D Printing and Additive Manufacturing. Working with: mLab at Oregon State University.
Predicting Adhesion in 3D Printable Silicone
This paper explores how to use curing kinetics, rheology, and T-Peel testing to predict interfacial forces between silicone printed layers, and use that prediction to further research into path planning for silicone direct ink writing. Published in Additive Manufacturing. Working with IMML (OSU) and Facebook Reality Labs.
Wearable Jamming Apparatus for Arm Motion Control
In 2016 I helped research and develop intellectual property about soft actuator technologies that could be used to control arm and hand motion. I developed several specific jamming technology options that could be used instead of granular jamming, including layer jamming (which had not yet been used in this context), and new jamming structures including ratchets, beads, and wires. These jamming structures can be lightweight and can potentially provide the required strength to hold arm and hand positions. Patent #10905617. Working with: Intel New Devices Group (Venture).
Drip Molding Silicone for Thin-Walled Voxels
I designed a silicone drip-molding process similar to rotational molding to enable manufacturing of thin-walled silicone voxels (hollow cubes). The modular voxels would have been extremely difficult to create via traditional molding. The voxel forms also allowed for direct experimental comparison to the simulated robot model. Published in: Robotics Science and Systems. Working with: Faboratory at Yale University.
3D Printed Motor-Sensory Module Prototype for Facial Rehabilitation
Created with technology I helped develop for silicone 3D printing. This is a motor-sensory facial module with a paired sensor/actuator system to read smiling on one side of the face and contract/actuate on the other side of the face to help with palsy physical therapy. The actuator is 3D printed with embedded fabric for increasing force on the face while maintaining softness. The work achieves forces needed for smiling, and also develops a custom testing rig to mimic facial topography (skin and bone). Published in: Soft Robotics. Working with: RRL (EPFL).