I am a PhD candidate in the Action Lab at Northeastern University, advised by Dr. Dagmar Sternad. My interdisciplinary research bridges robotics and human motor control, focusing on developing human-inspired algorithms for robot motion planning and manipulation of complex underactuated objects.
I have been fortunate to gain experience across multiple domains, both within robotics and human motor control. From the robotics side, I have worked with advanced systems such as the Franka FR3 robot arm, a 3-DOF Cartesian robot (HapticMaster), and a surgical robot during my internship at Vicarious Surgical. My work includes developing control algorithms that enable robots to manipulate objects with human-level dexterity and designing novel mechatronic assemblies, including a grip force measurement device.
My long-term goal is to design robots capable of achieving human-like adaptability and precision in manipulating a wide range of objects. I aim to uncover how humans adapt their manipulation strategies based on an object’s affordances and dynamics, and I leverage these insights to improve robotic systems. My research also addresses physical human-robot interaction, specifically exploring ways to enhance trajectory planning when robots collaborate with humans on shared tasks.
The two overarching questions I aim to answer through my research are:
1) How do humans, with slow and noisy motor control systems, so effectively manipulate their body parts in favorable ways to execute various tasks?
2) And how can we implement the same computational or control algorithms in robots?
Skills:
I thrive on tackling new challenges and learning new skills through my research. Over the years, I have developed expertise in several technical areas:
Critical Thinking: Research frequently presents unexpected challenges, and solving them has honed my ability to think critically and creatively.
Data Analysis: I am skilled in statistical methods such as ANOVA, Gaussian Mixture Models (GMMs), and Principal Component Analysis (PCA), applied to both human and robot experimental data.
Mechanical Design: I have designed and fabricated several mechatronic devices that have enabled novel research explorations.
Prototyping and Fabrication: My hands-on skills include 3D printing and hardware prototyping to support both personal and research projects.
Programming: I am proficient in Python and MATLAB and currently expanding my skills in C++.
Machine Learning: I have experience with libraries like PyTorch, TensorFlow, and Keras in Python, as well as MATLAB’s Deep Learning Toolbox.
Outside the lab:
Beyond my PhD research, I actively contribute to the local robotics community by mentoring a group of high school students for the FIRST Technical Challenge (FTC). I am also an electronics hobbyist and constantly have a personal project in progress—currently, I’m building my own smart robot vacuum (click here to see examples of my work).
I enjoy playing a variety of sports, with soccer, pickleball, and rock climbing being my current main rotation. When I’m not in the lab, you’ll usually find me on the sports field or tinkering with my latest personal project.