Under actuated 3-finger hand
A novel design for an under actuated 3-finger hand. The digits provide uniform force distribution along a grasped object's surface. Fingers can be configured in multiple orientations. Professor Salisbury and I presented this design at the Amazon Robotics symposium in October 2019.
Salisbury Robotics Lab
Mechanical Engineer (Consultant) 2016 - 2019
 3-finger underactuated hand |  Finger modules |  Package grasp |
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 Holding drill |  Equilateral configuration |  Spherical grasp |
 Machined aluminum pulleys |  Early prototype |
Electrically-actuated smart brake modules (patent pending [20190360538])
By selectively toggling the two wrapped-spring clutches independently the brake module may achieve four braking configurations (bi-directionally braked, uni-directionally braked in either direction, or free-running). Built for applications in robotics as part of TRI-funded research in wearable robotic arms.
 CAD of brake module |  Assembled brake module |  Principle of operation - motors actuate the spring tangs to selectively disengage the two wrapped-spring clutches |
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 Bare mandrel with springs demonstrating internal construction |  Three of the motor modules assembled into a positionable passisvely-actuated robot arm |  4-DOF wearable robotic arm using the electrically-actuated smart brake modules |
 A 4-DOF wearable positionable arm made of manually-actuated brake modules |
4-DOF desktop robotic arm
A 4-DOF robot arm using XM series Dynamixel smart actuator modules. Developed for research in the area of haptic interrogation. Three generations of these arms were designed and manufactured throughout 2018.
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3-DOF wearable robotic arm and haptic interface (patent pending)
A battery-powered wearable 3-DOF robot arm using XM series Dynamixel smart actuator modules.
 |  Huanhuan Qin demonstrating the use of the wearable arm as an interface to a CHAI3D haptic scene. |
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Laparoscopy trainer hardware
A low-cost 4-DOF computer interface for training medical professionals in the developing world on the techniques of laparoscopy.
 CAD models of the laparoscopy trainer hardware |  Two generations of laparoscopy trainer manipulators |  Assembled laparoscopy trainer hardware |
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