People

Interested in joining the CHARM Lab? Please see this page.

Spring 2022 CHARM Lab

Principal Investigator

Allison Okamura

Title:
Professor, Mechanical Engineering
Email:
aokamura [snail] stanford [period] edu -> mailto:aokamura [snail] stanford [period] edu
Phone:
650-721-1700
Address
Building 550, Room 107, 416 Escondido Mall
Stanford, CA 94305-2203
Webpage:
School of Engineering profile
Personal webpage

Staff

Crystal Pennywell

Title:
Administrator
Email:
crystal [period] pennywell [snail] stanford [period] edu -> mailto:crystal [period] pennywell [snail] stanford [period] edu
Phone:
650-498-9887
Address
Building 560, Room 205, 424 Panama Mall
Stanford, CA 94305-2232

Postdocs and Research Scientists

Caitlyn Seim

Project:
The Rehab Glove: Wearable Vibrotactile Stimulation for Stroke Rehabilitation
Education:
Ph.D in Human-Centered Computing, Georgia Institute of Technology
B.S. in Electrical Engineering, Georgia Institute of Technology
Email:
cseim [snail] stanford [period] edu -> mailto:cseim [snail] stanford [period] edu
Webpage:
Caitlyn's Webpage

Zhenish[bek] Zhakypov

Project:
TangiBall, a Reconfigurable and Multimodal Haptic Interface
Education:
Ph.D in Robotics, Swiss Federal Institute of Technology Lausanne (EPFL)
M.S. in Mechatronics Engineering, Sabanci University, Istanbul, Turkey
B.S. in Electrical-Electronics Engineering, Fatih University, Istanbul, Turkey
Email:
zhakypov [snail] stanford [period] edu -> mailto:zhakypov [snail] stanford [period] edu
Webpage:
Zhenish's Webpage?

Ryo Eguchi

Project:
Wearable/Portable Haptic Devices for Human Motion Guidance
Education:
Ph.D. in System Design Engineering, Keio University, Yokohama, Japan
M.S. in System Design Engineering, Keio University, Yokohama, Japan
B.S. in System Design Engineering, Keio University, Yokohama, Japan
Email:
eguchir [snail] stanford [period] edu -> mailto:eguchir [snail] stanford [period] edu
Webpage:
Ryo's Webpage

PhD Students

Millie Salvato

Project:
Tracking for Haptic Devices
Co-advisor:
Jeannette Bohg (Stanford)
Education:
MS in Computer Science, Massachusetts Institute of Technology
BS in Computer Science, Massachusetts Institute of Technology
Email:
msalvato [snail] stanford [period] edu -> mailto:msalvato [snail] stanford [period] edu
Webpage:
Millie's Webpage

Brian Do

Project:
Soft Robotics
Education:
MS in Mechanical Engineering, Stanford University
BS in Mechanical Engineering, Georgia Tech
Email:
brianhdo [snail] stanford [period] edu -> mailto:brianhdo [snail] stanford [period] edu
Webpage:
Brian's Webpage

Zonghe Chua

Project:
Motor Learning and Training in Surgical Robotics
Education:
BS in Mechanical Engineering, University of Illinois at Urbana-Champaign
Email:
chuazh [snail] stanford [period] edu -> mailto:chuazh [snail] stanford [period] edu
Webpage:
Zong's Portfolio

Nathaniel Agharese

Project:
Soft Robotics in Search and Rescue Applications
Education:
BS in Mechanical Engineering, Stanford University
Email:
agharese [snail] stanford [period] edu -> mailto:agharese [snail] stanford [period] edu
Webpage:
Coming Soon

Negin Heravi

Project:
Haptic Textures
Co-advisor:
Jeannette Bohg (Stanford)
Education:
BS in Mechanical Engineering, Massachusetts Institute of Technology
Email:
nheravi [snail] stanford [period] edu -> mailto:nheravi [snail] stanford [period] edu
Webpage:
Negin's Webpage

Kyle Tadao Yoshida

Project:
Soft Robotics for Haptics
Education:
BS in Bioengineering (Mechanical Track), Harvard University
Email:
kyle3 [snail] stanford [period] edu -> mailto:kyle3 [snail] stanford [period] edu
Webpage:
Kyle's Webpage

Catie Cuan

Project:
Haptics in Robot Learning
Education:
MS in Mechanical Engineering, Stanford University
BS, University of California, Berkeley
Email:
ccuan [snail] stanford [period] edu -> mailto:ccuan [snail] stanford [period] edu
Webpage:
Catie's Webpage

Jasmin Elena Palmer

Project:
Wearable Haptics
Education:
BS in Mechanical Engineering, Massachusetts Institute of Technology
Email:
jasminp [snail] stanford [period] edu -> mailto:jasminp [snail] stanford [period] edu
Webpage:
Coming Soon

Rianna Jitosho

Project:
Motion Planning for Soft Robots
Education:
BS in Mechanical Engineering, Massachusetts Institute of Technology
Email:
rjitosho [snail] stanford [period] edu -> mailto:rjitosho [snail] stanford [period] edu
Webpage:
https://rjitosho.github.io/

Elizabeth Danielle Vasquez

Project:
Rehabilitation Robotics, Human-Centered Design for Under-Served Communities
Education:
BS in Mechanical Engineering, Massachusetts Institute of Technology
Email:
vasqueze [snail] stanford [period] edu -> mailto:vasqueze [snail] stanford [period] edu
Webpage:
Coming Soon

Crystal Winston

Project:
Integrated Sensing for Origami Robots

Education:
BS in Mechanical Engineering, Massachusetts Institute of Technology
MPhil in Aerospace Engineering, Imperial College London
Email:
cwinston [snail] stanford [period] edu -> mailto:cwinston [snail] stanford [period] edu
Webpage:
Coming Soon

Rachel Adenekan

Project:
Smartphone-based Diagnostic Tool for Sensory Neuropathy
Education:
MS in Mechanical Engineering, Stanford University
BS in Mechanical Engineering, Massachusetts Institute of Technology
Email:
adenekan [snail] stanford [period] edu -> mailto:adenekan [snail] stanford [period] edu
Webpage:
http://www.racheladenekan.com

Godson Osele

Project:
Soft Robots
Education:
MS in Mechanical Engineering, Northwestern University
BS in Biomedical Engineering, Northwestern University
Email:
obum [snail] stanford [period] edu -> mailto:obum [snail] stanford [period] edu
Webpage:
TBD

Sreela Kodali

Project:
Sensory Substitution for Proprioception
Education:
MS in Electrical Engineering, Stanford University
BS in Electrical Engineering, Princeton University
Email:
kodali [snail] stanford [period] edu -> mailto:kodali [snail] stanford [period] edu
Webpage:
Sreela's Webpage

Elizabeth Childs

Project:
AR and Haptics for Education and Training
Co-advisor:
James Landay (Stanford)
Education:
BS in Mechanical Engineering, University of Maryland College Park
Email:
elchilds [snail] stanford [period] edu -> mailto:elchilds [snail] stanford [period] edu
Webpage:
N/A

Yimeng Qin

Project:
Vine Robots
Education:
BS in Mechanical Engineering, University of Illinois at Urbana-Champaign
BS in Electrical Engineering, University of Illinois at Urbana-Champaign
Email:
yimengq [snail] stanford [period] edu -> mailto:yimengq [snail] stanford [period] edu
Webpage:
N/A

Visiting Scholars and Students

Alexander Kübler 

Project:
Steering Mechanisms for Vine Robots
Education:
Currently, MSc Mechanical Engineering at ETH Zürich
BSc Mechanical Engineering at ETH Zürich
Email:
akuebler [snail] stanford [period] edu -> mailto:akuebler [snail] stanford [period] edu

Hyeonseok Seong 

Project:
Novel actuators for human-robot interaction
Education:
Currently, PhD Civil and Environmental Engineering at KAIST
BSc Mechanical Engineering at KoreaTECH
Email:
hseong [snail] stanford [period] edu -> mailto:hseong [snail] stanford [period] edu

Rotators, MS and Undergraduate Researchers, High School Interns, Etc.

Summer 2022:
Frances Bujah Raphael <fraphael@stanford.edu> - undergraduate ME student working with Alexander Kübler on Multi-Segment Vine Robots
Sebastian Urdaneta Rivera <sebasur@stanford.edu> - undergraduate ME student working with Alexander Kübler on Multi-Segment Vine Robots
Omar Enrique Ramos Escoto <ramos16@stanford.edu> - undergraduate ME student working with Ryo Eguchi on Wearable Haptics
Liana Tilton <liana.tilton@wustl.edu> - undergraduate WUSTL student working with Jasmin Palmer, Kyle Yoshida, and Zhenishbek Zhakypov on soft haptics
William Heap <wheap@umail.ucsb.edu> - undergraduate UCSB student working with Allison Okamura on Vine Robots
Hugo Chacon <chaconac@usc.edu> - undergraduate USC student working with Jasmin Palmer on VR and haptics
Sofia Elena Simon-Trench <sofiast@stanford.edu> - undergraduate ME student working with Rianna Jitosho and Brian Do on vine robot design
Elena Kamas <ekamas@stanford.edu> - undergraduate PD student working with Brian Do on continuum robot design
Alejandrina Gonzalez Reyes <alegre@stanford.edu> - MS CS student working with Kyle Yoshida and Rachel Adenekan on sensory evaluation using smartphone vibrations
Merissa Bryn Rieken <mrieken@stanford.edu> - undergraduate PD student working with Elizabeth Vasquez on rehabilitation for under-resourced communities
Sandra Valente <svalente@stanford.edu> - undergraduate PD student working with Elizabeth Vasquez on rehabilitation for under-resourced communities
Daniel Algazi <dalgazi@stanford.edu> - undergraduate ME student working with Elizabeth Vasquez on assistive devices
Anuoluwapo Ifeoluwapo Solola <asolola@stanford.edu> - undergraduate ME student working with Crystal Winston on origami haptic devices
Maxwell Ahlquist <ahlquist@stanford.edu> - undergraduate ME student working with Rianna Jitosho on mobile vine robots
Ryan Nguyen <rdtn02@stanford.edu> - undergraduate ME student working with Rianna Jitosho on mobile vine robots
Spring 2022:
Andrew Low <akl5@stanford.edu> - MS ME student working with Nathaniel Agharese on vine robots for nuclear inspection
Genggeng (Mark) Zhou <g9zhou@stanford.edu> - MS ME student working with Elizabeth Vasquez on rehabilitation device evaluation
David Vacek <dvacek@stanford.edu> - MS ME student (coterm) working with Ryo Eguchi on wearable garment for tactile cueing
Alexis Lowber <lowbaj21@stanford.edu> - MS CS student (coterm) working with Kyle Yoshida and Rachel Adenekan on sensory evaluation using smartphone vibrations
Xuan Su <suxuan@stanford.edu> - MS CS student (coterm) working with Kyle Yoshida and Rachel Adenekan on sensory evaluation using smartphone vibrations
Henry Oluwagbemiga Ojeaburu <ojeaburu@stanford.edu> - BS ME student working with Crystal Winston on origami haptic device sensors
Frances Bujah Raphael <fraphael@stanford.edu> - undergraduate ME student working with Alexander Kübler and Nathaniel Agharese on Multi-Segment Vine Robots
Joel Kiernan <joelx@stanford.edu> - undergraduate ME student working with Kyle Yoshida on mobile haptics
Sofia Elena Simon-Trench <sofiast@stanford.edu> - undergraduate ME student working with Rianna Jitosho and Brian Do on vine robot design
Grace Chengcheng Waguespack <gwaguespack1@stanford.edu> - undergraduate BME student working with Elizabeth Vasquez on rehabilitation device evaluation
Sandra Valente <svalente@stanford.edu> - undergraduate PD student working with Elizabeth Vasquez on rehabilitation for under-resourced communities
Brian Delgado <brdel@stanford.edu> - undergraduate ME student working with Brian Do on shape-locking robot design
Winter 2022:
Yimeng Qin <yimengq@stanford.edu> - PhD ME student working with Zhenish Zhakypov on soft haptic device design
Andrew Low <akl5@stanford.edu> - MS ME student working with Nathaniel Agharese and Mike Salvato on vine robots for nuclear inspection
Genggeng Zhou <g9zhou@stanford.edu> - MS ME student working with Elizabeth Vasquez on rehabilitation device evaluation
David Vacek <dvacek@stanford.edu> - MS ME student (coterm) working with Ryo Eguchi on wearable garment for tactile cueing
Alexis Lowber <lowbaj21@stanford.edu> - MS CS student (coterm) working with Kyle Yoshida and Rachel Adenekan on sensory evaluation using smartphone vibrations
Joel Kiernan <joelx@stanford.edu> - undergraduate ME student working with Kyle Yoshida on mobile haptics
Elena Kamas <ekamas@stanford.edu> - undergraduate PD student working with Brian Do on continuum robot design
Brian Minh Nguyen <bmnguyen@stanford.edu> - undergraduate ME student working with Caitlyn Seim on post-stroke hand function
Athena Chang <athenayc@stanford.edu> - undergraduate ME student working with Caitlyn Seim on post-stroke hand function
Jennifer Lugardo <jlugardo@stanford.edu> - undergraduate ME student working with Zhenish Zhakypov on soft haptic device design
Sofia Elena Simon-Trench <sofiast@stanford.edu> - undergraduate ME student working with Rianna Jitosho and Brian Do on vine robot design
Sidra Nadeem <sidranem@stanford.edu> - undergraduate CS student working with Jasmin Palmer on wrist haptics and VR
Grace Chengcheng Waguespack <gwaguespack1@stanford.edu> - undergraduate BME student working with Elizabeth Vasquez on rehabilitation device evaluation

Collaborators

Jeannette Bohg, Ph.D. (Assistant Professor of Computer Science, Stanford University)
Steve Collins, Ph.D. (Associate Professor of Mechanical Engineering, Stanford University)
Heather Culbertson, Ph.D. (Assistant Professor of Computer Science, University of Southern California)
Mark Cutkosky, Ph.D. (Professor of Mechanical Engineering, Stanford University)
Sean Follmer, Ph.D. (Assistant Professor of Mechanical Engineering, Stanford University)
Elliot Hawkes, Ph.D. (Assistant Professor of Mechanical Engineering, University of California San Diego)
Maarten Lansberg, M.D., Ph.D. (Associate Professor of Neurology & Neurological Sciences, Stanford University Medical Center)
Monroe Kennedy, Ph.D. (Assistant Professor of Mechanical Engineering, Stanford University)
Zac Manchester, Ph.D. (Robotics Institute, Carnegie Mellon University)
Dorsa Sadigh, Ph.D. (Assistant Professor of Computer Science, Stanford University)
Mac Schwager, Ph.D. (Associate Professor of Aeronautics and Astronautics, Stanford University)
Mark Skylar-Scott, Ph.D. (Assistant Professor of Pediatrics and Bioengineering, Stanford University)
Katsu Yamane, Ph.D. (previously at Honda Research Institute)

Lab Alumni

Click here for past lab members.

Past Lab Photos

Click here for past lab photos.

Lab Jobs

  • Lab data storage & backup (Google Drive) - Sreela
  • Webmaster, software record management - Godson
  • Shared lab materials and purchases, COVID-19 supplies - Crystal W.
  • Mini shop coordinator (tools, Makerbots, UV laser cutter, Formlabs, Objet 3D printer management) - Kyle and Zhenish
  • Laser cutter in Shape Lab- approved users are Brian, Caitlyn, Zhenish, Crystal W., Godson
  • Other equipment maintenance - Ryo
  • Ultrasonic welder manager: Brian Do
  • Lab safety coordinator, Building Evacuation Response Team (BERT) member - Catie
  • Meeting/events and lab clean up coordinators - Rianna and Rachel
  • Outreach and social media coordinators - Brian, Nathaniel, Jasmin, Elizabeth
  • Coordination with stroke center and guidance on rehab projects - Caitlyn
  • Lab tour/demo coordinator - Brian Do
  • High school intern coordinators - Godson and Crystal W.
  • Human subjects - Allison