Robotic Bathing System (internal codename: Triton)

• Led end-to-end development of an assistive bathing robot, owning system architecture and technical roadmap
• Defined and drove multiple design approaches, conducting system-level trade-offs and selecting the final solution
• Personally designed and integrated the end-effector with brush module, motor drive, gearbox, and force sensing, and validated the overall mechanical structure

Robotic Microsurgery Platforms - Stewart platform-based microsurgical robot

Designed and built a parallel manipulator for precision positioning, derived inverse kinematics and implemented coordinated multi-actuator control

• Independently owned full-stack development across all prototypes, including electrical component selection, mechanical design, system integration, motor control development, kinematics modeling, and validation
• Demonstrated delicate manipulation by peeling a raw quail egg, showcased at WAIC 2025, selected as a Key Highlight of the Exhibition

Robotic Microsurgery Platforms - Cable-driven microsurgical robot

• Developed a tendon-driven system with optimized routing and tensioning strategies, enabling compliant behavior and inherent backdrivability for safe and precise manipulation
• Independently owned full-stack development across all prototypes, including electrical component selection, mechanical design, system integration, motor control development, kinematics modeling, and validation

Robotic Microsurgery Platforms - Direct-drive linear motor microsurgical robot

• Built a high-bandwidth actuation system using linear motors, achieving ultra-fast response and high force transparency with direct force transmission between actuators and end-effector
• Independently owned full-stack development across all prototypes, including electrical component selection, mechanical design, system integration, motor control development, kinematics modeling, and validation

Fully Customizable Surgical Robotics Arm

• Conducted tests on various commercial robot joints tailored for customized surgical robot arms, primarily utilized in dental and orthopedic surgeries
• Constructed a robotic arm using the chosen joints and developed a control interface from scratch for enhanced manipulation of parameters
• Completed the EtherCAT communication program utilizing PDO, achieving a communication rate of 2K Hz. The torque calculated from kinematic and dynamic relations demonstrated a relative mean error of 1.5% for a single joint

Minimally Invasive Surgery Instrument Control

• Implemented an end-effector control module for multi-arm minimally invasive robotic telesurgery, including the development of a primary-secondary controller algorithm
• Enhanced response times and positioning accuracy using torque control connecting the primary controller’s human hand motion with the instrument’s maneuvers