Projects

Wearables, Robots, and Hardware

Tasbi

Tasbi is a haptic bracelet for virtual and augmented reality. It packs six linear resonant actuators for rendering vibrations, and a novel tensioning mechanism that delivers pressure, into an incredibly small package size.

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OpenWrist

The OpenWrist is a three degree-of-freedom, actuated exoskeleton that targets the human wrist joints. It has been used as a platform for studying robotic rehab as well haptic feedback paradigms to enhance motor learning.

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Syntacts Amps

The Syntacts amplifiers are purpose built, 8-channel amplifier designed for driving vibrotactors such as LRAs and VCMs from audio sources. The amps use eight fully differential, Class AB power amplifiers for low-noise operation.

Website

Software and Frameworks

ImPlot

Immediate mode plotting widgets for the popular Dear ImGui library. ImPlot can handle hundreds of thousands of data points in realtime applications.

GitHub

Syntacts

Syntacts is framework for synthesizing, spatializing, and rendering haptic vibrations on tactile arrays. The library is written in modern C++, and includes C# and Python bindings, as well as a GUI for rapid prototyping.

Website

MAHI Libraries

While in the MAHI lab, I’ve written a number of C++ libraries for digital signal acquisition, realtime control, and user interfaces. My code powers nearly all hardware in the MAHI lab in an extensible and portable manner.

GitHub

Interactive Experiences and Games

Tasbi Islands

The Tasbi Islands are a sandbox environment I’ve been working on to showcase the various ways Tasbi can deliver tactile feedback in virtual reality. The islands demonstrate buttons, textures, interactables, and more.

Video

A Jedi's Last Stand

An OpenWrist haptic lightsaber experience. Originally a class project, it has now been demoed at WHC 2017, for K12 outreach, and even to the UK Ambassador!

Video

Octagon Squeeze

A creative spin taken on the classic 8 target environment used in robotic rehabilitation research to make such therapy more engaging.

Video

Simulations

OpenWristSim

A fast, highly accurate simulation of the OpenWrist made with C++ and Eigen, and visualized in Unity Engine. It can serve as a drop-in replacement for the real thing!

GitHub

Phantom

Kinematic/dynamic models, simulations, visualizations, and realtime controls for the ubiquitous Phantom Premium haptic device.

GitHub

Haptic Environments

I’ve created several environments for fundamental haptics research. If you are interested in using these for your own research, feel free to contact me!