Research

I have done research in several areas of medical robotics and haptics at Stanford University's CHARM Lab, the University of Montpellier's LIRMM, Rice University's MAHI Lab, and the University of Pennsylvania's GRASP Haptics Lab. Most of my work has focused on wearable and holdable touch interfaces for improving user performance in medical tasks like surgery. For more information and to find associated publications, see the individual project pages.

Skin-deformation Guidance for Surgical Training Simulators

Reinforcement Learning

Techniques for Haptic Guidance

Dual-CMG Ungrounded Torque Feedback and Optimization

Ungrounded Haptic Feedback for Guidance in UltraSound Probes

Vibrating Slip Feedback for Smart Prosthetic Hands

Touch Feedback for Palpation in Robotic Surgery

Transparency, Stability, and Quantization Noise

in Bilateral Teleoperators