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These are the projects done with incredible teams of people from various backgrounds. 


Enabling Data-Driven Control of a Soft Manipulator via Onboard Sensing

The world of robotics is currently composed mainly of robots that are made of rigid materials. Therefore, the sensors and the control algorithms used in the field cannot be easily integrated with the non-linear soft materials. In Morphable Biorobotics Lab, I worked on incorporating off-the-shelf sensors into soft balloon actuators without affecting the robot's motion capabilities. I used thin copper traces and developed a manufacturing technique to integrate several sensors into the actuators with minimal hindrance to their mechanical properties. The sensor-integrated robot could run over 1,000 cycles with an accuracy of >99%. Due to its capability to capture large datasets, this technology enabled the usage of machine learning algorithms for accurate control. We implemented open-loop control with minimal training losses and are now working to implement a closed-loop control using the same technology to enable proprioception and exteroception. 


A Magnetically-Controlled Soft Robotic Glove for Hand Rehabilitation

I worked on a magnetically-controlled soft robotic glove for hand rehabilitation. The working principle of the glove relies on the electronically controlled stiffening of a magnetorheological fluid for strength-based rehabilitation. This glove is composed of discrete beam and accordion structures to represent the joints and linkages of our fingers. I worked on the design and fabrication of the glove. I fabricated the electro-permanent magnets to create the stiffness response and did bending tests using Instron. This study continues with improvements in magnetorheological fluid and clinical testing. 



Circular Economy and SustainablePractices in Advanced Ceramics: Energy-Efficient Green Machining and Recycling with a Single Additive Approach

Although the cornerstone of various industries, ceramics manufacturing poses challenges in significant waste generation and imprecise shaping. I worked on incorporating the waste materials generated during the mechanical machining of ceramics and synthesizing a copolymer to create a suspension between the waste and fresh solid particles. We could make a fine shape and tuning of the surface through laser machining these dough-like structures. I also worked on surface characterization using SEM and flexural strength measurements. By introducing the wastes back into manufacturing and re-creating ceramics with a single additive, this study proposes an easy-to-implement solution to the main challenges in the ceramics industry. Introducing circularity into ceramics manufacturing also offers the possibility of prototyping sustainably. 


Vibration Therapy for Pressure Ulcers Using a Piezoresistive Soft Sensor

83%  of hospitalized patients develop pressure ulcers within the first five days of hospitalization. Vibration therapy can potentially improve microcirculation and accompany the treatment of pressure-induced injuries. We developed a textile-based soft vibrating patch that is composed of three main parts: a sensor module that detects pressure and pressure location, a GUI implemented in MATLAB to map and visualize the pressure location, and an actuation module that provides vibration when the sensor detects a certain pressure. This project serves as a non-invasive method to treat pressure ulcers.


Traffic Assistance Mobility Aid System for the Visually Impaired

This project aims to find a solution to make traveling more simplified and convenient for the visually impaired. The visually impaired need more assistance than the existing ones to cross streets safely. We designed an assistive cane composed of 3 central regions: handle, foldable region, and bottom. The handle gives tactile feedback when the bottom part detects the crosslines. The handle includes a button the user presses when they want to cross the street. The button controls the power going through the UNO Minis in both the handle and the bottom part of the cane. The bottom part includes an RGB Sensor, which is connected to the vibration motor in the handle, and the motor vibrates when the sensor detects a white color. The cane also has a foldable middle region to make the product more compact.

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