COmputational engineering and robotics lab (cerlab)

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I am leading the development of a robotic golf simulator with 10 degrees of freedom, designed to recreate golf course terrain indoors. As both Project Lead and Electromechanical Systems Lead for a team of seven, I selected and designed actuators capable of supporting over 1,000 pounds per plate assembly, while also developing the electrical circuits to power the system and using I2C communication for the microcontrollers.

In addition to the electrical work, I designed and 3D-printed custom components like ball joints, housings, and gear trains, performing FEA simulations to ensure they could withstand high loads safely. To make the system easy to use, I built an intuitive GUI in Python and programmed a precise PID control system in C++/Arduino, achieving actuator accuracy within 2mm, ensuring smooth and responsive operation.

I conducted a detailed analysis of gait and limb composition following ACL reconstruction, comparing the injured and contralateral lower limbs at multiple time points. The aim of this 5-year study is to identify gait-related risk factors for post-traumatic osteoarthritis. This involved utilizing tools such as electromyography (EMG), inertial measurement units (IMUs), force plates, computational MRI, and marker-based motion capture to gather comprehensive data on muscle activity, movement strategies, and force development. None of the images shown are from this study and only de-identified data is included in the project page.

Additionally, I validated the accuracy of commercial wearable sensors by comparing their performance against lab-standard equipment. Wearable sensors allow for biomechanical analysis in natural environments, expanding the potential for improved patient monitoring and rehabilitation. Images from this small pilot study are shown at the left and below. The photo and marker representation shown below are from my friend, Sam Liu's study on bilateral jumping where I had the privilege of being a participant.