I am a Ph.D. student at the University of Pennsylania's GRASP Laboratory and member of the Haptics Group. I do research on human and machine haptic systems, specifically trying to understand the relationship between kinesthetic (large-scale) and tactile (small-scale) sensory feedback.

You can find more information at my website, here.

I am the author/maintainer of several ROS packages:

• Release code:

  • pr2_gripper_sensor_action

  • pr2_gripper_sensor_controller

  • pr2_gripper_sensor_msgs

    • For some cool videos and high-level description of the pr2_gripper_sensor packages check out our UPenn site: http://fling.seas.upenn.edu/~pr2grasp/wiki/index.php?title=Machine_Haptics

  • pr2_props

  • roar

Here are some hardware notes I've worked hard on and think are important:

• Slackware Installation

• ethercat_hardware/Tutorials/GripperAccelerometerController

• PR2 Ears

Some notes on calling Octave functions from within Python

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