Advised by Prof. Sean FollmerThesis: Redirected Reaching in Virtual Reality: Modeling, Control, and ApplicationsDeveloping sensorimotor user models of interactions with altered real-to-virtual mappings in VR. Applying optimal control techniques to model and enable new on-the-fly spatial remapping strategies. Developed a framework to improve robot-mediated haptic feedback in VR using dynamic reach redirection, leveraging target prediction and reach time estimation.Designed and developed hardware and software for a novel, open-source mobile tabletop shape display (shapeShift). Included mechanical design, PCB design, firmware development, and integration with VR applications.

Advised by Amir Memar (Reality Labs Research, Haptics Team)Investigated novel sensing and control techniques for soft haptic actuators, including hardware characterization, dynamic simulation, and state estimation.

Advised by Mike Sinclair in Microsoft Research's EPIC GroupDesigned and fabricated a proof-of-concept haptic controller for VR capable of generating dynamic physical feedback on-demand, as well as sensing/responding to physical input from the user.Awarded Best Paper Honorable Mention at UIST 2021.

Advised by Dr. Warren DixonDeveloped and tested controllers used in neuromuscular electrical stimulation (NMES) of human limbs to restore and rehabilitate function.Designed a new testbed for upper-arm NMES experiments capable of position and torque control of a robotic elbow hinge. Led a study using the testbed exploring the optimal stimulation site on the biceps to maximize muscle force production.