Projects
Research and engineering, from silicone to software.
Tactile skins, haptic interfaces, medical robots, ROS 2 drivers and swarms. Pick a thread.
Medical robotics & imaging
Robotic Assistance for BBB OpeningRobot-assisted focused-ultrasound platform (UR5, ROS 2, NDI optical tracking) for drug delivery across the blood–brain barrier. Patented, and licensed to Therasonic in 2026.read moreRobotics softwarehid_ros2: a universal USB-HID hardware interface for ros2_controlAuthor of an open-source ros2_control hardware interface that connects any USB-HID device (Teensy, ESP32, STM32, custom sensors) to ROS 2 from a YAML file, with no C++ to write. Presented at ROSCon FR 2025. open sourceTactile sensing
Tactile Array for Humanoid Hand to Enable Socio-Affective TouchDesigned, built and validated a tactile sensor array embedded in a soft silicone substrate for humanoid hands, the hardware core of my PhD.read moreRobotics software
NDI Systems ROS2 DriverROS 2 / ros2_control driver for NDI Polaris and Aurora medical tracking systems: sub-millimetre 6-DoF poses at up to 60 Hz for surgical and rehabilitation robotics (ICube Robotics, open source). open sourceRobotics softwarepaxini_ros2: ROS 2 driver for PaXini GEN3 tactile sensor arraysWrote a full ros2_control driver for the PaXini GEN3 tactile sensor arrays: hardware interface, tactile broadcaster, URDF and a raw-data pipeline. It runs the tactile hand of my PhD. open sourceHuman–robot interaction
Contributing Factors in Human-Robot HandshakeEmpirical study of what makes a natural, comfortable handshake between humans and robots — compliance, hand grip, and temporal synchrony. open sourceTactile sensing
Generative Factorized Model of Action-Conditioned Tactile AffordanceLearning how robots can predict and understand tactile interactions through generative models that condition on actions and prior touch. open sourceHuman–robot interaction
Soft Robotic Haptic Interface for Anxiety ReductionWearable haptic interface delivering heart-beat and breathing-pattern stimulation to reduce anxiety and promote calm during human-robot interaction.read moreSwarm robotics
Swarm Robot FirmwareComplete embedded C firmware for autonomous mobile swarm robots with advanced control algorithms and multi-robot coordination capabilities open sourceSwarm robotics
SWARM Motion Planning via Fluid DynamicsNovel motion planning algorithm for non-holonomic robot swarms using Navier-Stokes equations with a 15-robot experimental platform. open sourceRobotics software
3D Gradient Path PlannerAdvanced three-dimensional path planning algorithm using gradient descent with attractive and repulsive potential fields for robotics navigation open sourceMedical robotics & imaging
COVID-19 Lung CT Image Segmentation using Deep LearningComparative study of U-Net versus SegNet architectures for semantic segmentation of COVID-19 infected tissue in CT scans. open source
Robotic Assistance for BBB OpeningRobot-assisted focused-ultrasound platform (UR5, ROS 2, NDI optical tracking) for drug delivery across the blood–brain barrier. Patented, and licensed to Therasonic in 2026.read moreRobotics softwarehid_ros2: a universal USB-HID hardware interface for ros2_controlAuthor of an open-source ros2_control hardware interface that connects any USB-HID device (Teensy, ESP32, STM32, custom sensors) to ROS 2 from a YAML file, with no C++ to write. Presented at ROSCon FR 2025. open sourceTactile sensingTactile Array for Humanoid Hand to Enable Socio-Affective TouchDesigned, built and validated a tactile sensor array embedded in a soft silicone substrate for humanoid hands, the hardware core of my PhD.read moreRobotics softwareNDI Systems ROS2 DriverROS 2 / ros2_control driver for NDI Polaris and Aurora medical tracking systems: sub-millimetre 6-DoF poses at up to 60 Hz for surgical and rehabilitation robotics (ICube Robotics, open source). open sourceRobotics softwarepaxini_ros2: ROS 2 driver for PaXini GEN3 tactile sensor arraysWrote a full ros2_control driver for the PaXini GEN3 tactile sensor arrays: hardware interface, tactile broadcaster, URDF and a raw-data pipeline. It runs the tactile hand of my PhD. open sourceHuman–robot interactionContributing Factors in Human-Robot HandshakeEmpirical study of what makes a natural, comfortable handshake between humans and robots — compliance, hand grip, and temporal synchrony. open sourceTactile sensingGenerative Factorized Model of Action-Conditioned Tactile AffordanceLearning how robots can predict and understand tactile interactions through generative models that condition on actions and prior touch. open sourceHuman–robot interactionSoft Robotic Haptic Interface for Anxiety ReductionWearable haptic interface delivering heart-beat and breathing-pattern stimulation to reduce anxiety and promote calm during human-robot interaction.read moreSwarm roboticsSwarm Robot FirmwareComplete embedded C firmware for autonomous mobile swarm robots with advanced control algorithms and multi-robot coordination capabilities open sourceSwarm roboticsSWARM Motion Planning via Fluid DynamicsNovel motion planning algorithm for non-holonomic robot swarms using Navier-Stokes equations with a 15-robot experimental platform. open sourceRobotics software3D Gradient Path PlannerAdvanced three-dimensional path planning algorithm using gradient descent with attractive and repulsive potential fields for robotics navigation open sourceMedical robotics & imagingCOVID-19 Lung CT Image Segmentation using Deep LearningComparative study of U-Net versus SegNet architectures for semantic segmentation of COVID-19 infected tissue in CT scans. open source