I’m interested in robotics and tech, especially human-centered applications like surgical robotics, assistive and rehabilitation robotics, and collaborative robots. A little more info on my work is provided below and you can access my resume here.
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Hugging a haptic pillow. Art by @picturesalima
Fancy Safe Bot
I’ve recently released a robotics library I originally developed during my research years and since have been chipping away at. It’s called Fancy Safe Bot. The goal is to have a usable Open Source Software for robotics that can be incorporated into a development process certifiable for medical devices or other safety-critical applications.
Code: Fancy Safe Bot robotics library
Vention
Vention moves fast and I’m building out a brand new middleware controller for all the robotics and motion control products being deployed around the world! It has been rewarding to be able to work on robot vendor integration using Fanuc and Universal Robot’s streaming interfaces as well as new motion control modes such as compliant end effector tele-operation and collision-free motion planning. One of the projects I’m fortunate enough to be a part of is in the physical AI space:
Kinova
One of my favorite aspects of my work at Kinova was implementing features that might seem straightforward and intuitive but require a deep understanding of the robotics modeling and mathematics that underpin the technology. It’s very satisfying to go from user and systems-level requirements to proof-of-concept and finally a deliverable feature. I worked on may aspects of robot manipulators at Kinova including trajectory generation, workspace analysis, collision avoidance, hand-guiding, calibration, actuator tuning and characterization. Here are some products I’ve had the pleasure of working on:
Ross Video
Trajectory generation is key for beautiful shots and responsive real-time control from camera operators. I learned a lot building out new motion profiles and timescaling with a camera pedestal mobile robot, and it was exciting to be a part of early development for a new robot design, including vision-based collision avoidance. I was also fortunate to work on some experimental features with automated tracking for faces and a proof-of-concept multi-camera horse racing application.
Research
I love human-robot interaction and I treasure my days as a researcher prototyping a gait rehabilitation device that had a lot of really cool features like 6 DoF haptics force rendering with force and visual feedback, redundancy resolution, and real-time user biomechanics estimation. I also worked on a bunch of side projects and got deep into C/C++ for real-time robotic controls software.
Paper: A task oriented haptic gait rehabilitation robot
Paper: A limb compliant sensing strategy for robot collision reaction
MASc Thesis: Design and control for a gait rehabilitation robot