Halter Lab Research

Contributed to advancements in medical robotics as an undergraduate researcher under Dr. Michael Kokko.

I integrated an Electrical Impedance Tomography (EIT) electrode as an end effector on a continuum robotic arm, then used a model developed by former researcher Cameron Wolfe to generate a point mesh representing the electrode's reachable surface.

I fabricated a silicone mold for an agar-based imaging phantom — shaped to replicate the reachable surface mesh — to replicate tissue conductivity. Using a custom-designed testing jig, I ran the electrode along boundaries of differing conductivity using closed-loop control and reconstructed EIT images to validate the approach.