Assistive Robotics
Missing Middle: Assistive Robotic Bathing Tool for Mobility-Limited Adults
Research and development of a soft-contact
robotic bathing end-effector intended to
support mobility-limited adults.
My contributions include end-effector design,
integrating compliant materials with a rigid
structure, force-sensing calibration, robotic
control integration, and safety-oriented testing.
My work explores how compliant mechanical
design and force-aware control can contribute
to assistive physical interaction.
Under the McNair Scholars Program, I developed
a research question, conducted scholarly writing,
planned experiments, and reviewed relevant literature
to support my research in assistive robotics.
Mentors: Dr. Joseph Long, Dr. Dan Jensen, Prof. Anthony Kaiser, Dr. Kari Azevedo, Dr. Angela Nonaka
Assistive Mixed Reality
Semantic Intent Recognition for Assistive XR: Reducing Auditory Clutter via LLM-Driven Querying on HoloLens 2
Research and development of a low-latency spatial AR relay engine intended to
support visually impaired individuals through intent-based object localization.
My contributions include designing the Python edge-computing architecture,
integrating Whisper ASR with BGE transformer embeddings for natural-language intent
parsing, implementing an NMS-free YOLOv10 object detection pipeline, and establishing
the sub-100ms HTTP REST bridge to a Unity C# frontend for 3D spatial mesh raycasting and audio anchoring.
My work explores how offloaded multimodal AI and intent-driven data filtering
can mitigate auditory clutter and improve perceptual accessibility in spatial computing environments.