People

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

Winter 2024 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

Gosia Wojciechowska

Title:
Administrator
Email:
gosiaw [snail] stanford [period] edu -> mailto:gosiaw [snail] stanford [period] edu
Phone:
(650) 723-9233
Address
Building 560, Room 217, 424 Panama Mall
Stanford, CA 94305-2232

Postdocs and Research Scientists

Cosima du Pasquier

Project:
Modeling in Soft Robotics and Wearable Soft Robotics
Education:
Ph.D in Mechanical Engineering, Swiss Federal Institute of Technology Zurich (ETH)
M.S. in Mechanical Engineering, Swiss Federal Institute of Technology Zurich (ETH) and Massachusetts Institute of Technology (MIT)
B.S. in Mechanical Engineering, Swiss Federal Institute of Technology Zurich (ETH)
Email:
cosimad [snail] stanford [period] edu -> mailto:cosimad [snail] stanford [period] edu
Webpage:
Cosima's Webpage

Alaa Eldin Abdelaal

Project:
Force-based Robot Learning from Demonstration for Soft Tissue Manipulation
Education:
Ph.D. in Electrical and Computer Engineering, University of British Columbia, Canada
M.S. in Computing Science, Simon Fraser University, Canada
B.S. in Computer and Systems Engineering, Mansoura University, Egypt
Email:
abdelaal [snail] stanford [period] edu -> mailto:abdelaal [snail] stanford [period] edu
Webpage:
Alaa's Webpage

PhD Students

Jasmin Elena Palmer

Project:
Wearable Haptics, Relocated Haptic Feedback in VR Environments
Education:
MS in Mechanical Engineering, Stanford University
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:
Origami Robot Design and Control

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:
Godson's Webpage

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:
Elizabeth's Webpage

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

Brian Vuong

Project:
Surgical Robotic Teleoperation and Haptic Devices
Education:
MS in Mechanical Engineering, Stanford University
BS in Biomedical Engineering, Brown University
Email:
bbvuong [snail] stanford [period] edu -> mailto:bbvuong [snail] stanford [period] edu
Webpage:
Coming soon

Sehui Jeong

Project:
Modeling in Soft Robotics
Education:
BS in Mechanical Engineering, Seoul National University
Email:
sehui [snail] stanford [period] edu -> mailto:sehui [snail] stanford [period] edu
Webpage:
Coming soon

Mary Kate Gale

Project:
Force-Informed Surgical Robotics
Education:
BS in Biomedical Engineering, Georgia Tech
Email:
mgale7 [snail] stanford [period] edu -> mailto:mgale7 [snail] stanford [period] edu

Melissa Klein

Project:
3D Printing of Soft Robots
Education:
BS in Mechanical Engineering, Massachusetts Institute of Technology
Email:
kleinm [snail] stanford [period] edu -> mailto:kleinm [snail] stanford [period] edu

William Heap

Project:
Mechanical design for vine robots
Education:
BS in Mechanical Engineering, University of California, Santa Barbara
Email:
wheap [snail] stanford [period] edu -> mailto:wheap [snail] stanford [period] edu

Megan Coram

Project:
Design and Fabrication of Wearable Devices
Education:
BA in Mechanical Engineering, Harvard University
Email:
mccoram [snail] stanford [period] edu -> mailto:mccoram [snail] stanford [period] edu

Visiting Faculty, Scholars and Students

Ko Yamamoto

Position:
Professor at University of Tokyo
Project:
Humanoid Robotics, Soft Robotics, Biomechanics, Human Flow Simulation
Education:
Ph. D. in Mechano-informatics, University of Tokyo
Email:
yamamoto [period] ko [snail] ynl [period] t.u-tokyo [period] ac [period] jp -> mailto:yamamoto [period] ko [snail] ynl [period] t.u-tokyo [period] ac [period] jp
Webpage:
Ko's Webpage

SangHeui Cheon

Project:
Wearable Robots and Powered Exoskeletons
Education:
Ph.D. Candidate in Mechanical Engineering, Seoul National University (Prof. Kyu-Jin Cho)
B.S. in Mechanical Engineering and Biomedical Engineering, Yonsei University
Email:
sang [period] h.cheon [snail] snu [period] ac [period] kr -> mailto:sang [period] h.cheon [snail] snu [period] ac [period] kr

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

Spring 2024:
Stephen Zhu <srzhu3@stanford.edu> - BS EE student working with Ko Yamamoto on human flow simulation
Lucas Ray <lray32@stanford.edu> - MS ME student working with Ko Yamamoto on human flow simulation
Christopher Pedraza <cpedraza@stanford.edu> - BS ME student working with Jasmin Palmer on experiment setup for human subject studies
Cooper Shea <coopshea@stanford.edu> - MS ME student working with Crystal Winston on vine base design and manufacturing
Hanvit Cho <hvcho74@stanford.edu> - MS ME student working with Crystal Winston on vine base design and manufacturing
Akemi Sabatier <akemisab@stanford.edu> - BS ME student working with Yimeng Qin on vine autonomy project
Yicheng Wang <wycheng@stanford.edu> - MS ME student working with Yimeng Qin on vine autonomy project
Anish Bayya <anish25@stanford.edu> - BS student working with William Heap on vine robots
Kai Hammond <kaihamm@stanford.edu> - BS student working with William Heap on vine robots
Jeewoo Choi <jchoi23@stanford.edu> - MS ME student working with William Heap on vine robots
Rohith Chintala <rohithc@stanford.edu> - MS ME student working with William Heap on high specific force winching
Amber Xie <amberxie@stanford.edu> - CS PhD student working with Alaa Eldin Abdelaal on surgical robotics
Tim Niklaus Reinhart <rtim@stanford.edu> - MS CS student working with Alaa Eldin Abdelaal on surgical robotics
Austin Yang <syang9@stanford.edu> - MS ME student working with Rianna Jitosho on vine robotics
Ricardo Li <lijinxin@stanford.edu> - MS ME student working with Rianna Jitosho on vine robotics
Trevor Perey <tperey@stanford.edu> - MS ME student working with Allison Okamura on neurosurgical robotic system
Marisa Woo <mwwoo@stanford.edu> - BS PD student working with Allison Okamura on neurosurgical robotic system
Sydney Hunt <sydhunt@stanford.edu> - EE PhD student working with Allison Okamura on neurosurgical robotic system
Isabella Szabo <iszabo@stanford.edu> - BS ME student working with Allison Okamura on neurosurgical robotic system
Jacky Zhao <pjzhao@stanford.edu> - BS BioE student working with Allison Okamura on neurosurgical robotic system
Teresa Zhang <teresaz@stanford.edu> - BS CS/Math student working with Allison Okamura on neurosurgical robotic system
Joel Kiernan <joelx@stanford.edu> - BS ME student working with Allison Okamura on haptic feedback for navigation

Winter 2024:
Roy Bian <roybian@stanford.edu> - MS ME student working with Yimeng Qin & William Heap on vine robots
Haotong Han <hthan@stanford.edu> - MS ME student working with Yimeng Qin on vine robots
Zhiyuan Li <zhiyuanl@stanford.edu> - MS ME student working with Yimeng Qin on vine robots
Anish Bayya <anish25@stanford.edu> - BS student working with William Heap on vine robots
Thomas Escudero <tommyesc@stanford.edu> - BS CS student working with Yimeng Qin & William Heap on vine robots
Kai Hammond <kaihamm@stanford.edu> - BS student working with William Heap on vine robots
Yannie Tan <yannie@stanford.edu> - BS CS student working with Cosima du Pasquier on knit haptics
Manaka Gomi <gomim@stanford.edu> - ME PhD student working with Cosima du Pasquier on knit haptics
Megan Coram <mccoram@stanford.edu> - ME PhD student working with Cosima du Pasquier on knit haptics
Tim Niklaus Reinhart <rtim@stanford.edu> - MS CS student working with Alaa Eldin Abdelaal on surgical robotics
Ghadi Nehme <ghadi@stanford.edu> - MS ME student working with Alaa Eldin Abdelaal on surgical robotics
Jinxin Li <lijinxin@stanford.edu> - MS ME student working with Rianna Jitosho on vine robotics
Austin Yang <syang9@stanford.edu> - MS ME student working with Rianna Jitosho on vine robotics
Zhongchun Yu <zcyu@stanford.edu> - MS ME student working with Allison Okamura on neurosurgical robotic system
Teo Ren <tianao@stanford.edu> - MS ME student working with Allison Okamura on neurosurgical robotic system
Trevor John Perey <tperey@stanford.edu> - MS ME student working with Allison Okamura on neurosurgical robotic system
Marisa Wenshan Woo <mwwoo@stanford.edu> - BS PD student working with Allison Okamura on neurosurgical robotic system
Jacky Zhao <pjzhao@stanford.edu> - BS BioE student working with Allison Okamura on neurosurgical robotic system
Teresa Zhang <teresaz@stanford.edu> - BS CS/Math student working with Allison Okamura on neurosurgical robotic system
Joel Kiernan <joelx@stanford.edu> - BS ME student working with Allison Okamura on haptic feedback for navigation

Autumn 2023:
Teo Ren <tianao@stanford.edu> -MS ME student working with Sreela Kodali on haptic wearables
Sandra Chea <schea@stanford.edu> -MS EE student working with Cosima du Pasquier on haptic knits
Jiaying Fang <jyfang@stanford.edu> -MS EE student working with Alaa Eldin Abdelaal on surgical robotics
Nick Woehrle <nickjw@stanford.edu> - Coterm ME student working with Rianna Jitosho on flying vine robots
Mario Peraza <mperaza@stanford.edu> - MS ME student working with Nathaniel Agharese on vine robot model validation
Frances Bujah Raphael <fraphael@stanford.edu> - undergraduate ME student working with Godson Osele on design and control of Tapebot
Akemi Sabatier <akemisab@stanford.edu> - undergraduate ME student working with Yimeng Qin on vine autonomy project
Zhiyuan Li <zhiyuanl@stanford.edu> - MS ME student working with Yimeng Qin on vine autonomy project
Haotong Han<hthan@stanford.edu> - MS ME student working with Yimeng Qin on vine autonomy project
Heidi Hoi-Ying Kwong <hkwong16@stanford.edu> - MS ME student working with Allison Okamura and Antonio Meola on neurosurgical robotic system
Ghadi Nehme <ghadi@stanford.edu> - MS ME student working with Allison Okamura and Antonio Meola on neurosurgical robotic system
Zhongchun Yu <zcyu@stanford.edu> - MS ME student working with Allison Okamura and Antonio Meola on neurosurgical robotic system
Joshua Brynn Lin <josh.lin@stanford.edu> - MS ME student working with Allison Okamura and Antonio Meola on neurosurgical robotic system
Austin Yang <syang9@stanford.edu> - MS ME student working with Allison Okamura and Antonio Meola on neurosurgical robotic system

Summer 2023:
Akemi Sabatier <akemisab@stanford.edu> - undergraduate ME student from Stanford (SURI program) working with Nathaniel Agharese on soft robotic systems
Frances Bujah Raphael <fraphael@stanford.edu> - undergraduate ME student from Stanford (SURI program) working with Godson Osele on design and control of Tapebot
Liana Tilton <liana.tilton@wustl.edu> - undergraduate EE student from WashU in St. Louis (REU program) working with Cosima du Pasquier on wearable knit haptic devices
Anis Benyoucef <anis.benyoucef@ucdenver.edu> - undergraduate ME student from University of Colorado Denver (SURF program) working with Rachel Adenekan on mobile haptics
Mihir Rao <mihir.rao@berkeley.edu> - undergraduate student from UC Berkeley working with Alaa Eldin Abdelaal on surgical robotics
Jared Grinberg <jgrinberg6@gatech.edu> - undergraduate BME student from Georgia Tech (REU program) working with Yimeng Qin on vine robots
Ela Sigin <elasigin@stanford.edu> - undergraduate ME student from Stanford (SURI program) working with Cosima du Pasquier on wearable knit haptic devices
Max Ahlquist <ahlquist@stanford.edu> - undergraduate ME student from Stanford (SURI program) working with Godson Osele and Rianna Jitosho on design and control of flying vine robots
William Heap <wheap@stanford.edu> - ME PhD student in the Summer FIRST program working on large-scale vine robots
Cihualpilli Camino Cruz - high school intern (SRC Research Program) working with Sreela Kodali on wearable haptics
Natalia Reyes - high school intern (SRC Research Program) working with Godson Osele on mechanism design
Wudase Yousef - high school intern (SRC Research Program) working with Godson Osele on mechanism design

Spring 2023:
Akemi Sabatier <akemisab@stanford.edu> - undergraduate ME student working with Nathaniel Agharese on soft robotic systems
Dipanshu Mittal <dipanshu@stanford.edu> - MS ME student working with Ryo Eguchi on wearable haptics for human motion guidance
Omar Enrique Ramos Escoto <ramos16@stanford.edu> - undergraduate ME student working with Ryo Eguchi on wearable haptics for human motion guidance
Tse-Yu Chen <tychentw@stanford.edu> - MS ME student working with Cosima du Pasquier on materials characterization for knit haptics
Frances Bujah Raphael <fraphael@stanford.edu> - undergraduate ME student working with Godson Osele on design and control of Tapebot

Winter 2023:
Sehui Jeong <sehui@stanford.edu> - PhD ME student working with Cosima du Pasquier on optimizing soft robot design
Melissa Klein <kleinm@stanford.edu> - PhD ME student working with Zhenish Zhakypov on soft wearable haptic device design
Olivia Tomassetti <oliviart@stanford.edu> - PhD ME student working with Godson Osele on design and control of Tapebot
Mary Kate Gale <mgale7@stanford.edu> - PhD BioE student working with Alaa Abdelaal on tool-tissue interaction forces for robotic surgery
Shrey Verma <shreyv@stanford.edu> - MS ME student working with Crystal Winston on tactor tracking for origami fingertip haptic device
Chongxun Wang <cpw5348@stanford.edu> - MS ME student working with Kentaro Yoshida on soft haptic device
Joel Kiernan <joelx@stanford.edu> - undergraduate ME student working with Kyle Yoshida on haptic perception
Romeo Garcia Jr. <rgj0@stanford.edu> - undergraduate ME student working with Ryo Eguchi on wearable haptics for human motion guidance
Sean Trevor Sewell <ssewell@stanford.edu> - undergraduate ME student working with Ryo Eguchi on wearable haptics for human motion guidance
Ki Ahn <kahn94@stanford.edu> - undergraduate ME student working with Ryo Eguchi on wearable haptic navigation for VR flight simulator
Maxwell Ahlquist <ahlquist@stanford.edu> - undergraduate ME student working with Rianna Jitosho on untethered pneumatic system for mobile vine robots
Spencer Wallace <spenwall@stanford.edu> - undergraduate EE student working with Godson Osele on Tapebot PCB design
Ahmed Muhammad <ahmed02@stanford.edu> - undergraduate ME student working with Crystal Winston on HASEL actuators for origami haptic devices
Paula Stocco <stoccop@stanford.edu> - MS ME student working with Alaa Eldin Abdelaal on automatic tissue retraction

Autumn 2022:
Brian Vuong <bbvuong@stanford.edu> - PhD ME student working with Sreela Kodali and Zhenish Zhakypov on sensory prosthesis
Spencer Wallace <spenwall@stanford.edu> - BS EE student working with Sreela Kodali on sensory prosthesis
Chongxun Wang <cpw5348@stanford.edu> - MS ME student working with Kentaro Yoshida on soft haptic device
Ki Ahn <kahn94@stanford.edu> - BS ME student working with Hyeonseok Seong on twisted string actuator haptic device
Shrey Verma <shreyv@stanford.edu> - MS ME student working with Hyeonseok Seong on twisted string actuator haptic device
Nicole Salz <nsalz@stanford.edu> - MS ME student working with Allison Okamura on educational haptic devices
Frances Bujah Raphael <fraphael@stanford.edu> - undergraduate ME student working with Yimeng Qin on Vine Robots for exploration of California Tiger Salamander habitat
Sebastian Urdaneta Rivera <sebasur@stanford.edu> - undergraduate ME student working on vine robots with Zhenish Zhakypov
Sofia Simon-Trench <sofiast@stanford.edu> - undergraduate ME student working with Rianna Jitosho and Brian Do on vine robot design
Alejandrina Gonzalez Reyes <alegre@stanford.edu> - MS CS student 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
Omar Enrique Ramos Escoto <ramos16@stanford.edu> - undergraduate ME student working with Ryo Eguchi on Wearable Haptics
Ryan Nguyen <rdtn02@stanford.edu> - undergraduate ME student working with Godson Osele, Rianna Jitosho, and Brian Do on mobile vine robots
Maxwell Ahlquist <ahlquist@stanford.edu> - undergraduate ME student working with Rianna Jitosho on mobile vine robots

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. and Yimeng
  • Mini shop coordinator (tools, Makerbots, UV laser cutter, Formlabs, Objet 3D printer management) - Mary Kate and William
  • Laser cutter in Shape Lab - approved users are Crystal W. and Godson
  • Other equipment maintenance - Sehui
  • Ultrasonic welder manager: Cosima
  • Lab safety coordinator, Building Evacuation Response Team (BERT) member - Brian V.
  • Meeting/events and lab clean up coordinators - Rianna and Jasmin
  • Outreach and social media coordinators - Elizabeth C. and Melissa
  • Lab tour/demo coordinator - Elizabeth V.
  • da Vinci maintenance - Alaa Eldin
  • Human subjects - Allison