Current Projects


Delta 3D Printer Designs/Mods (Fall 2013-Present)
Engineering - MechE
Modifying and improving the delta-style printers, namely the Rostock Max and its derivatives. A particular focus lately has been the development of an automatic tool changer based on magnetic, kinematic couplings

Past Projects


Dexterous Manipulation w/ Underactuated Hands (Fall 2010-Fall 2016)
PhD Thesis
My graduate research focused on extending the capabilities of simple, underactuated hands to more complex and dexterous manipulation tasks. Underactuated hands often sacrifice controllability in exchange for passive adaptability and simplicity, but a careful optimization of the mechanical parameters can often result in very repeatable and robust examples of dexterity


Yale OpenHand Project (Fall 2012-Fall 2016)
Engineering - MechE/CS/EE
In conjunction with my research at Yale, I also designed and distributed open-source designs for 3D-printed robotic hands. The hands utilize compliant flexure joints made from rubber urethanes in place of standard revolute joints to improve robustness and durability. Each design comes with clear fabrication/assembly instructions


Compliant Ankle Rehabilitation Device (Fall 2008-Fall 2011)
Engineering - MechE/EE
Collaboration w/ Edward Sung, under direction of Prof. Martin Culpepper, Alex Slocum Jr., and Dr. Jonathan Bean to utilize flexures and strain gauges in an inexpensive device to evaluate ankle strength


Build-a-Bender (Jan 2012)
Web - Javavscript
Quick hack-a-thon entry to produce the STL for a customized Bender (from Futurama) figurine. Uses an early version of OpenJSCad, works similar to the Thingiverse customizer


Keepon Expressions (Spring 2011)
Web - PHP/Javavscript
Collaboration w/ Zuotian Luan to study how non-anthropomorphic robots can express emotion through body motion alone


Ant Genetic Algorithm (Fall 2010)
Web - PHP/Javavscript
Simple webapp that illustrates genetic algorithms through an example of an ant traversing a path


NBA Rewind (Jan 2010)
Web - PHP/Actionscript/Flex
Quick webapp for a winter-term hackathon to provide more interesting visualizations of game flow in an average NBA game. Yes, Adobe Flex was a thing, at least for a little while


Fortrus - Collapsible Rescue Litter (Fall 2009)
Engineering - Team
15-person team senior design project in 2.009 Product Design course to develop a collapsible rescue basket for use in low-angle mountain rescue scenarios. Under the direction of David Meeker, Ben Powers, Professor David Wallace


"Innuendo" - 2.007 Project Entry (Spring 2008)
Engineering - Meche
Final robot project for my first intensive/immersive MechE design course at MIT. Won the 2008 Whitelaw Design Award