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Portfolio
Soft Bidirectional Nitinol Actuator for Robotic Catheters
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.
Soft Robotic Catheter with Independent Bending and Torsion
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.
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