• Led the comprehensive development of a humanoid robot simulation, starting from accurate modeling in URDF (Unified Robot Description Format) to advanced control systems.

• Designed and implemented linear and non-linear control algorithms to precisely actuate the robot’s joints, enabling it to perform static tasks like grasping, manipulating objects, and positioning.

• Utilized forward and inverse kinematics for precise limb positioning and movement, allowing the robot to execute complex operations such as object interaction and machinery operation.

• Integrated sensor fusion techniques to combine data from multiple sensors, including IMUs, cameras, and tactile sensors, for real-time feedback and situational awareness.

• Developed advanced human-robot interaction (HRI) applications, enabling the robot to recognize gestures, respond to voice commands, and use vision-based systems for object recognition and interaction.

• Created a Qt-based user interface to provide operators with real-time control, diagnostics, and feedback, ensuring ease of use and intuitive operation.

• Implemented robust network routing protocols to enable efficient communication between the robot’s systems, ensuring seamless operation in networked environments.

• Enhanced the robot’s perception and adaptability to interact with humans intuitively and assist in collaborative environments, such as manufacturing and service industries.

• Focused on reliability and precision, ensuring the robot could assist in a wide range of static tasks with high accuracy and minimal supervision.

• Delivered a humanoid robot with a user-friendly design and capabilities tailored for static collaborative tasks, emphasizing safety and efficiency.

Gravity-Assisted Haptic Robot for Stroke Rehabilitation and Interactive Games

• Chassis Design: Engineered robust and scalable chassis structures tailored for industrial warehouse environments, capable of handling up to 1,500 kg of load on the AGV.

• Created an embedded real-time application for precise and responsive support of human arm movements, ensuring smooth operation and dynamic adaptability.

• Implemented high-frequency controllers to simulate haptic feedback, emulating real-world sensations like resistance, texture, and motion, enhancing user immersion.

• Designed gravity compensation techniques to reduce the physical effort required for rehabilitation tasks, enabling patients to focus on regaining motor functions without overstraining.

• Developed interactive haptic-based games that engaged users in motivating exercises, leveraging immediate and responsive feedback for an enjoyable rehabilitation experience.

• Integrated manipulator control with a camera-based tracking system to follow the user’s arm movements, enabling precise robot adaptation during therapy.

• Ensured dynamic support and real-time adjustment to human movements, improving the accuracy and effectiveness of rehabilitation exercises.

• Focused on creating a system that combines real-time control, haptic feedback, and interactive gaming, offering a unique and powerful rehabilitation tool.

• Enhanced user engagement by designing intuitive exercises that challenge patients while maintaining a supportive and adaptive environment.

• Delivered a comprehensive rehabilitation system that supports stroke recovery by accelerating motor skill development and improving coordination