Research

Overview

My research aims to actualize soft robotic platforms that are equipped with compliant onboard sensing, actuation, and control systems to advance the state-of-the-art wearable and implatable technologies for assistive and therapeutic purposes, My primary interestes include wearable haptic interfaces, rehabilitation and assistive tools, and implantable sensing systems for biomedical treatments.

Leveraging my knowledge in mechanical engineering, manufacture and design, and materials science, I have developed biocompatible wearable sensors, created ultrahigh power-density dielectric elastomer actuators, and built electrically-responsive compliant transducers (i.e., valves and peristaltic pumps) for fluid-driven robotic systems. I am currently working on implantable sensors for microfluidic drug delivery and cardiac output monitoring.

Previous Projects

Biocompatible soft strain and force sensors

Biocompatible soft strain and force sensors with high linearty and low hystersis responses could potentially be used for therapeutic and diagnostic devices, human-machine interactions, and tele-communications.

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A dynamic electrically-driven soft valve

This is the soft valve that is powered by dynamic DEAs. We demonstrated control of hydraulic actuators of different volumes, achieved independent control of multiple actuators powered by a single pressure source, and created the first tele-operation system control by soft valves.

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An electrically-driven soft pump

We developed the first centimeter scale soft peristaltic pump that is powered by dynamic DEAs. We demonstrate open-, and closed-loop control of a finger-sized volume hydraulic actuator with this electrically-responsive soft pump.

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Highly agile collision resilient insect-scale soft-actuated aerial robots

This robot showed for the first time that soft-actuated sub-gram MAVs could demonstrate recovering from an in-flight collision and performing a somersault, showing the potential of a new class of hybrid soft-rigid robots.

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