Project Overview
Soft robotics is an emerging area of medical robotics that uses compliant, deformable materials to enable safe navigation inside delicate biological environments. Because soft actuators bend, stretch, and distribute force naturally, they are ideal for minimally invasive procedures such as catheter navigation and endovascular intervention.
In this project, I developed a haptically controlled soft robotic system for medical manipulation research. I integrated two haptic devices with a tendon driven soft robot, allowing operators to control the system intuitively.
Key Technical Achievements:
• Integrated two haptic interfaces with the soft robot using C#.
• Interfaced with the company's C++ API and adapted it for
custom control — demonstrating cross-language synchronization
(C# ↔ C++).
• Implemented real-time teleoperation with low-latency feedback.
• Developed a robust pipeline synchronizing haptic input, soft
actuator response, and NDI sensor tracking.
A related publication from this project was presented at the Hamlyn Symposium on Medical Robotics 2025. Check out the publication here:
Simultaneous Forward and Inverse Kinematic Learning of Soft Robots Using Bi-Level Neural Encoding
.