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Designed and built a soft wearable actuator that independently tuned damping, enabling upper-limb tremor suppression with less risk of making the joint feel rigid or uncomfortable.
Designed and characterized a lightweight, fabric-based soft actuator platform that bends in any direction, can be built with accessible fabrication tools, and supports programmable stiffness changes through coordinated chamber pressurization.
Designed and fabricated a catheter-scale soft actuator that achieves bidirectional bending from a single thermally controlled nitinol wire, replacing the usual antagonistic-wire architecture with a simpler, lower complexity mechanism.
Developed a 3 mm diameter fully soft robotic catheter tip that combined independent hydraulic bending and torsion to improve branch access and local tip control without relying on base shaft rotation.
