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I am a Sr. Robotics and Controls Engineer at Auris Health, Johnson & Johnson where I design algorithms for controlling and localizing a robotic bronchoscope in a patient's lungs.
My focus has always been to design robots for the betterment of mankind. During grad school designed of robotic & haptic devices that hep rehabilitate those with disabilities. I got my Bachelors degree from India and my masters & PhD in mechanical from Texas A&M University. With a lot of my contributions being in control system design, I decided to equip myself with the necessary mathematical background by pursuing a Masters in applied mathematics with a focus on optimization and data analytics.
Areas of interest: Robotics, Control system design, Haptics, Mechatronic design, Optimization, Data analytics, Biomedical devices, Prosthetics, Exoskeletons, Humanoids, Biomechanics
Ph.D. in Mechanical Engineering
Ph.D. in Mechanical Engineering
Texas A&M University, College Station, 2017-2021
Chairs: Pilwon Hur, Ph. D. and Prabhakar Pagilla, Ph. D.
Topic: Towards better user customization of lower limb assistive devices: control framework for transfemoral prosthesis and a self-aligning knee mechanism.
Contributions:
Relationship between control law parameters and gait progression
Relationship between control law parameters and slope angle
A compliant mechanism that allows self-alignment with any user's knee centrode.
Control of a transfemoral prosthesis on level terrain
Control of a transfemoral prosthesis on level terrain
Investigated the impact of reference trajectories, under an impedance control strategy, on the generated gait kinetics and kinematics.
Control of a transfemoral prosthesis on sloped terrain
Control of a transfemoral prosthesis on sloped terrain
Proposed a framework with which one can design a controller more any slope angle. The framework relates the parameters in an impedance control strategy to slope angles.
A self-aligning knee mechanism for orthoses
A self-aligning knee mechanism for orthoses
Proposed a self-aligning knee mechanism that enables the polycentric motion of the human knee, thereby reducing device migration and extensive donning period of orthoses.
M.S. in Mathematics - Industrial Track
M.S. in Mathematics - Industrial Track
Texas A&M University, College Station, 2017-2021
Chairs: Francis Narcowich, Ph. D.
Areas of focus:
Mesh-less interpolation of scattered data
Optimization: Linear, Non-linear, Integer, Semi-definite, Combinatorial, Stochastic systems, Machine learning.
M.S. in Mechanical Engineering
M.S. in Mechanical Engineering
Texas A&M University, College Station, 2015-2017
Chairs: Pilwon Hur, Ph. D.
Topic: Development of a Compact Gyroscopic Device for Hand Rehabilitation
Contributions:
User needs of those with hand disabilities
A novel gyroscopic device that can impose a controlled torque on the user's hand
Experimental results supporting the feasibility of using the device for haptics and hand rehabilitation
Other Graduate Projects
Other Graduate Projects
Need analysis of exoskeleton users
Need analysis of exoskeleton users
Haptic device for powered wheelchair users
Haptic device for powered wheelchair users
Nonlinear control of various exoskeletons
Nonlinear control of various exoskeletons
Teleoperation of a 3 DOF robot manipulator
Teleoperation of a 3 DOF robot manipulator
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