Endoluminal soft robotic start-up spun out of ETH Zurich. Supported by Wyss Zurich with an initial focus on Neuro Vascular applications.

Leading the development of remote magnetic navigation systems for the control of magnetic catheters or magnetic microdevice.

Development and control of innovative magnetic catheters for medical applications.

- Led the development of the hardware-software interfaces for a medical robotic system from initial software architecture to first patients.- Led the software implementation of safety features and risk mitigation measures in the following projects: C++ (IEC 62304 class B), Real-time TwinCAT (IEC 62304 class B) and Safety over EtherCAT.- Wrote the documentation for verification and submission for CE marking submission.- Participated in research activities to automate catheter navigation and localize catheter during cardiac arrhythmia ablations.

- Designed software architecture (UML Diagram)- Defined interface between software components- Defined software requirements- Implemented control software in C++

Developed simulation for new stepper motor actuators including every relevant aspects:- Electromagnetic simulation of stepper motor (including experimental part)- Thermal simulation for stepper motor, PCB and full actuator (including experimental part)- Electronic and firmware selection- Sensor selection and dimensioning- Stepper motor control algorithm- Gearbox dimensioning- Research on reducing stepper actuator noise

- Enhanced Lunar or Martian autonomous rover testbed functionalities for autonomous navigation: Human Machine Interface for rover control, Localization base on odometry- Reviewed and evaluated state of the art robotic middelware and software architectures (GenoM, Ros, Orocos)

Implemented algorithms for a service robot designed to autonomously navigate in urban environments, EUROPA project (European Robotic Pedestrian Assistant) - Locomotion characterization with Simulink model - Mapping, localization, trajectory planning (C++) - Connection of module running with different middleware (MOOS, ROS, CARMEN)

- Master thesis on “Local trajectory planning with variable velocity for partially occluded environments”- Research on integration of speed selection in the trajectory planning for lunar and Martian rover- Evaluate concept in Matlab and implementation in C++

Student job in Sensory-Motor Systems Lab- Research on adaptive control strategy for a gait rehabilitation robot (Locomat) - Implementing and testing a novel control strategy in Matlab and Simulink

- Developing a motor controller prototype- PCB design, welding and testing a first prototype, programming in Lab View