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:
Olivia Loh <olivia77@stanford.edu> - MS EE HPC student working with Cosima du Pasquier on an untethered pneumatic device
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
Sydney Hunt <sydhunt@stanford.edu> - EE PhD student working with Allison Okamura on neurosurgical robotic system
Trevor Perey <tperey@stanford.edu> - MS ME student working with Allison Okamura on neurosurgical robotic system
Claire Du <clairedu@stanford.edu> - ME 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
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

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