2026
An 8-mm single-port surgical robot with three slender 2-mm robotic arms (endoscope, holmium laser and gripper arm) designed specifically for Oblique Lateral Interbody Fusion (OLIF) surgery. I independently designed the whole electronic system (EtherCAT, FOC, Host PC, ...) and control algorithm (IK, Eye-hand coordination, HMI, ...), and the resulting system was reported in Science Robotics.
2026
Designed and built a 6-DoF robotic arm integrating custom FOC joint drives, dual absolute encoders, a CAN-FD bus and ROS 2 control stack. Through proper sim-to-real modeling, precise force feedback and gravity compensation are realized. The experiments show that the system achieved a payload above 2.5 kg, no-load repeatability within ±0.012 mm, and visual tracking at over 30 Hz. This project was recognized as Outstanding Undergraduate Graduation Designs of UESTC.
2026
A dual-arm master manipulator for surgical robot teleoperation, designed to translate and smooth the operator's hand movements into robotic instrument commands, and provide force feedback from the end effector. The interaction concept and logic are inspired by the surgeon console of the da Vinci surgical system.
2026
A gripper designed for Universal Manipulation Interface (UMI) style embodied data collection, suitable for both handheld operation and mounting on the robot arm. It extends the UMI concept with extra tactile sensing and current-based contact force control. An RGB-D stereo camera tracks the gripper pose through SLAM-based odometry, and the tactile sensing module is based on a modified FlexiTac Mini design with a smaller but higher-performance readout board, achieving a tactile streaming rate above 60 FPS.
2026
A miniature hardware design for FlexiTac tactile sensors with smaller footprint, stronger performance and many other improvements for large-scale deployment and synchronization. This project was validated through my next Touch-UMI gripper design.
2025
An open-source, high-performance field oriented control (FOC) framework for BLDC and PMSM motors. Built on a modular, abstract architecture, every core module is configurable at run-time, enabling iFOC to support multiple control modes and deployment across multiple platforms. This project serves as a fundamental platform for my follow-up works, including surgical robots, robot arms, etc.
2024
A magnetic levitation platform that combines cascaded current + position + 3D attitude PID loops to stabilize and control a levitated magnet disk. The system supports closed-loop height and orbital motion control, recovers from external disturbances, and maintains stable levitation with the base tilted by up to 135°-140°.