About

Seeking exciting research and teaching opportunities.

I am a Ph.D. candidate in Mechanical Engineering at the University of California, Los Angeles (UCLA) majoring in Design, Robotics, and Manufacturing, and minoring in Dynamics with an expected graduation date of June 2022. I belong to the UCLA Bionics Lab directed by Prof. Jacob Rosen, where I lead the development of robotic hand exoskeletons for rehabilitation and assist in research on automated robotic surgery. Additionally, I am a lecturer in the Electrical Engineering Department of Loyola Marymount University (LMU). I obtained my M.S. in Mechanical Engineering from UCLA in 2017. My undergraduate education was at LMU, where I graduated from the Honors Program with a B.S. in Electrical Engineering.

My thesis work at UCLA is focused on the design, development, and application of the Opposable Thumb Hand Exoskeleton for Rehabilitation (OTHER Hand). Additionally, I have co-led and assisted research projects in the automation of robotic cataract surgery, tissue manipulation, and suturing. My work has resulted in 11 publications in international conferences, journals, and books, and garnering over a hundred citations. Further, along with Prof. Jacob Rosen, I was the editor and primary contact point for the book Wearable Robotics: Systems and Applications.

I have significant experience as an instructor of record and teaching assistant, in addition to multiple years working as a tutor and enrichment teacher at local K-12 schools. My teaching abilities have been recognized through both exceptional student evaluations and teaching awards. Further, I have mentored several graduate and undergraduate students during my doctorate.

Other prior work experience includes research and engineer positions at a private plasma physics lab, Southern California Edison, and the Maryland Psychiatric Research Center.

Research

My thesis work at UCLA is focused on the design, development, and application of the Opposable Thumb Hand Exoskeleton for Rehabilitation (OTHER Hand), an NSF-funded research project. Additionally, I have co-led and assisted research projects on the automation of robotic suturing, cataract surgery, tissue manipulation, and the editing of a book on robotic prosthetics and exoskeletons.

Opposable Thumb Hand Exoskeleton for Rehabilitation (OTHER Hand)

The Opposable Thumb Hand Exoskeleton for Rehabilitation (OTHER Hand) is a robotic hand exoskeleton for rehabilitation to be mounted on the EXO-UL8 and Blue Sabino upper limb exoskeletons as part of NSF Award #1532239. The project is a collaboration between the UCLA Bionics Lab and Prof. Joel Perry's lab at the University of Idaho. Notable features include:
  • Bimanual
  • Opposable thumbs
  • Designed with optimized link lengths to fit ~95% of the population
  • 6 active and 7 passive degrees of freedom per side, including a novel pinky-slider mechanism
  • Three reconfigurable linkages per side (one for the thumb, and two grouping the long fingers)
  • Quick disconnect attachment mechanisms
  • Remotely located motor pack driving a Bowden cable transmission system
  • Integrated force and rotation sensors for feedback control
The OTHER Hand development has resulted in a conference paper and book chapter. Complete details and demonstration (with assistance from Jianwei Sun) of the OTHER Hand are planned for submission to a T1 journal in early 2022.

Wearable Robotics: Systems and Applications

I served as the editor (with Prof. Jacob Rosen) and primary contact point for the published book Wearable Robotics: Systems and Applications. The project involved researching, identifying, and inviting several hundred prominent researchers from around the world in the fields of robotic prosthetics and robotic exoskeletons to contribute their latest research and highlight the state of the fields. I then managed the contributing eighteen research groups and companies to maintain the book schedule, edited each of their submissions, and compiled the book into a logical sequence. I authored chapters on the design optimization of the OTHER Hand and reviewing hand exoskeletons, and co-authored chapters reviewing upper limb exoskeletons and lower limb exoskeletons.

Bioimpedance-Based Probe for Tissue Identification During Cataract Surgery

I co-lead (with Sahba Aghajani Pedram) a subproject of the Intraocular Robotic Interventional and Surgical System (IRISS) for Cataract Surgery. The subproject is focused on the development of an intraocular bioimpedance-based probe to detect and classify ocular tissues during cataract surgery using machine learning. Outcomes of this project have included a co-first authored journal paper in IEEE Transactions on Biomedical Engineering and a provisional patent.

And More

Prior to my graduate studies, I worked on various research projects including an ion propulsion system, nuclear power generation, testing procedures for two subprojects of the Irvine Smart Grid Demonstration, and the behavioral effects of reward and punishment expectations in individuals with and without schizophrenia.

Teaching

Teaching is one of my greatest passions in life and I strive to be an increasingly effective educator. I have significant teaching experience as an instructor of record, teaching assistant, tutor, and K-12 enrichment teacher across a wide range of disciplines. My dedication and excellence in teaching has been recognized by students, colleagues, and supervisors alike.

I believe that, if given the opportunity, the human brain has an incredible capacity for learning, far beyond what it is commonly given credit for. With sufficient dedication and passion, a student can learn just about any material. A knowledgable teacher who encourages and skillfully pushes the student beyond their own preconceived limitations greatly facilitates this. It often requires tremendous effort by student and teacher alike, but the reward exceeds the challenge.

Lecturer at Loyola Marymount University

  • EECE 2110: Circuits I.
    • Fall 2021, 2 sections, in-person instruction. Overall student evaluation: 4.61/5, 4.44/5.
  • ELEC 210: Electric Circuit Analysis.
    • Fall 2020, 1 section, remote instruction. Overall student evaluation: 4.72/5.
    • Fall 2019, 1 section, in-person instruction. Overall student evaluation: 4.33/5.

Teaching Assistant/Associate/Fellow at the University of California, Los Angeles

  • MAE 162E: Mechanical Engineering Design II (Senior Capstone Project).
    • Spring 2022 (Ongoing), Spring 2021 (Eval: 8.92/9), Spring 2020.
  • MAE 162D: Mechanical Engineering Design I (Senior Capstone Project).
    • Winter 2022 (Ongoing), Winter 2021 (Eval: 8.92/9), Winter 2020.
  • ENGR 183EW: Engineering and Society (Engineering Ethics and Writing).
    • Summer 2020 (Eval: 7.87/9), Spring 2019, Summer 2018, Spring 2018, Fall 2017.
  • ENGR 182EW: Technology and Society (Engineering Ethics and Writing).
    • Fall 2018 (Eval: 8.71/9).
  • MAE 294A: Compliant Mechanism Design.
    • Winter 2018 (Eval: 6.86/9).
  • MAE 102: Dynamics of Particles and Rigid Bodies.
    • Spring 2017 (Eval: 7.57/9), Winter 2017, Fall 2016.

Tutoring

I have multiple years experience as a tutor for Atelier Tutors, Tried & True Tutoring, and StudyPoint Tutoring. Topics tutored have included calculus, physics, SAT prep, science enrichment, and math enrichment. Notable outcomes have included:
  • Teaching the core concepts of pre-algebra, geometry, algebra 1, algebra 2, pre-calculus, and calculus AB to a pair of 10 and 11 year old brothers. Tutoring occurred for one hour per week for three years. This accelerated their math education by nearly four grade years and supports my conviction that anyone can learn advanced concepts if given guidance and the opportunity.
  • In eight weeks, teaching a full introductory physics course to a 10th grade student such that they were able to test into AP Physics with no prior physics exposure.
  • Improving one student's pre-calculus grade from a C+ to an A after one semester of tutoring.

K-12 Enrichment Teacher

Through STAR Education, I worked as the lead robotics teacher for afterschool and summer enrichment programs at local elementary and middle schools. Other topics instructed include art, engineering, math, LEGOs, and coding.

Service and Diversity, Equity, and Inclusion

A commitment to diversity, equity, and inclusion is not merely a choice, it is a moral obligation of each and every individual.

Promoting diversity, equity, and inclusion is not an activity I engage in, rather, it permeates my life. My research is wholely aimed at enabling and healing those with physical disabilities. The purpose of my teaching is to provide knowledge that opens opportunities regardless of age, race, gender, sexual orientation, religion, or disability. The reason for my service is to empower those who have had less privelege than myself.

Outreach and DEI activities have included:
  • Research:
    • A primary motivator for my research is my father, who developed Parkinson's Disease when I was in middle school. My love for my father and for robotics combine in the development of robotic exoskeletons for rehabilitation and assistance. It is my dream that robotic exoskeletons, improved if even only slightly by my work, can one day minimize or eliminate the profound crippling effects of conditions such as Parkinson's Disease, stroke, and spinal cord injury.
    • My secondary area of research is also aimed at improving the health and lives of patients through the automation of surgery. Such automation has the potential to improve safety, reduce surgeon fatigue, reduce costs, and generally improve clinical outcomes, and in doing so improve the lives of billions.
  • Teaching:
    • As a member of Tau Beta Pi, I volunteered weekly tutoring to engineering underclassmen.
    • As a K-12 enrichment teacher, I frequently taught underserved students and at elementary and middle schools in low-income neighborhoods. Highlights include teaching LEGOs to an 8 year old Black boy with Huntington's Disease and robotics at several Los Angeles inner-city middle schools.
  • Mentoring:
    • Graduate Students:
      • Seungmin Jung (Ph.D. Student, Mechanical Engineering)
      • Yasamin Foroutani (Ph.D. Student, Mechanical Engineering)
      • Brandon Hsiao (M.S. Student, Mechanical Engineering)
    • Undergraduate Students:
      • Jackson Ng (Mechanical Engineering)
      • David Carrillo (Mechanical Engineering)
      • Daniel Van Lewen (Mechanical Engineering)
      • Zhaohui Li (Mechanical Engineering)
  • Other Outreach:
    • Featured in the final Generation Genius entitled "How To Be A Scientist (College & Careers)", to encourage young children of all backgrounds to pursue STEM.
    • As a K-12 enrichment teacher, I frequently taught underserved students and at elementary and middle schools in low-income neighborhoods. Highlights include teaching LEGOs to an 8 year old Black boy with Huntington's Disease and robotics at several Los Angeles inner-city middle schools.

Publications

* Indicates equal contribution/co-first author

Books (Edited)

  1. Jacob Rosen and Peter Walker Ferguson, Eds. Wearable Robotics: Systems and Applications, Academic Press, 2019, ISBN: 978-0-12-814659-0. DOI: https://doi.org/10.1016/C2017-0-01139-4.

Book Chapters

  1. Yang Shen, Peter Walker Ferguson, and Jacob Rosen, “Upper Limb Exoskeleton Systems - Overview,” in Wearable Robotics: Systems and Applications, Jacob Rosen and Peter Walker Ferguson, Eds., Academic Press, 2020, pp. 1-22. DOI: https://doi.org/10.1016/B978-0-12-814659-0.00001-1.
  2. Peter Walker Ferguson, Yang Shen, and Jacob Rosen, “Hand Exoskeleton Systems - Overview,” in Wearable Robotics: Systems and Applications, Jacob Rosen and Peter Walker Ferguson, Eds., Academic Press, 2020, pp. 149-175. DOI: https://doi.org/10.1016/B978-0-12-814659-0.00008-4.
  3. Peter Walker Ferguson, Brando Dimapasoc, and Jacob Rosen, “Optimal Kinematic Design of the Link Lengths of a Hand Exoskeleton,” in Wearable Robotics: Systems and Applications, Jacob Rosen and Peter Walker Ferguson, Eds., Academic Press, 2020, pp. 193-206. DOI: https://doi.org/10.1016/B978-0-12-814659-0.00010-2.
  4. Hao Lee, Peter Walker Ferguson, and Jacob Rosen, “Lower Limb Exoskeleton Systems - Overview,” in Wearable Robotics: Systems and Applications, Jacob Rosen and Peter Walker Ferguson, Eds., Academic Press, 2020, pp. 207-229. DOI: https://doi.org/10.1016/B978-0-12-814659-0.00011-4.
  5. Yang Shen, Peter Walker Ferguson, Ji Ma, and Jacob Rosen “Upper Limb Wearable Exoskeleton Systems for Rehabilitation: State of the Art Review and a Case Study of the EXO-UL8 Dual-Arm Exoskeleton System,” in Wearable Technology in Medicine and Healthcare, Raymond Tong, Ed., Academic Press, 2018, pp. 71-90. DOI: https://doi.org/10.1016/B978-0-12-811810-8.00004-X.

Journal Papers

  1. Sahba Aghajani Pedram*, Peter Walker Ferguson*, Matthew J. Gerber, Changyeob Shin, Jean-Pierre Hubschman, and Jacob Rosen, “A Novel Tissue Identification Framework in Cataract Surgery using an Integrated Bioimpedance-Based Probe and Machine Learning Algorithms,” IEEE Transactions on Biomedical Engineering (TBME), 2021, DOI: https://doi.org/10.1109/TBME.2021.3109246.
  2. Sahba Aghajani Pedram*, Changyeob Shin*, Peter Walker Ferguson, Ji Ma, Erik P. Dutson, and Jacob Rosen, “Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot,” IEEE Transactions on Robotics (TRO), 2020, pp. 1-14. DOI: https://doi.org/10.1109/TRO.2020.3031236.

Conference Papers

  1. Sahba Aghajani Pedram*, Peter Walker Ferguson*, Changyeob Shin, Ankur Mehta, Erik Dutson, Farshid Alambeigi, and Jacob Rosen, “Toward Synergic Learning for Autonomous Manipulation of Deformable Tissues via Surgical Robots: An Approximate Q-Learning Approach", in 8th International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2020, pp. 878-884. DOI: https://doi.org/10.1109/BioRob49111.2020.9224421.
  2. Changyeob Shin, Peter Walker Ferguson, Sahba Aghajani Pedram, Ji Ma, Erik P. Dutson, and Jacob Rosen, “Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control,” in IEEE International Conference on Robotics and Automation (ICRA), 2019, pp. 3875-3881. DOI: https://doi.org/10.1109/ICRA.2019.8794159.
  3. Peter Walker Ferguson*, Brando Dimapasoc*, Yang Shen, and Jacob Rosen, “Design of a Hand Exoskeleton for Use with Upper Limb Exoskeletons,” in International Symposium on Wearable Robotics (WeRob), Springer, 2018, pp. 276-280. DOI: https://doi.org/10.1007/978-3-030-01887-0_53.
  4. Sahba Aghajani Pedram, Peter Ferguson, Ji Ma, Eric Dutson and Jacob Rosen, “Autonomous Suturing via Surgical Robot: An Algorithm for Optimal Selection of Needle Diameter, Shape, and Path,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 2391-2398. DOI: https://doi.org/10.1109/ICRA.2017.7989278.

Posters

  1. Sahba Aghajani Pedram, Peter Ferguson, Ji Ma, Eric Dutson and Jacob Rosen, “Optimal Needle Diameter, Shape, and Path in Autonomous Suturing,” in 2017 SoCal Robotics Symposium, Los Angeles, California, 2017, arXiv:1901.04588.
  2. H. H. Holcomb, S. Coates, J. West, P. Ferguson, and L. Oswald. “Reward and Punishment Expectations Modify Behavior and Brain Activity Patterns Associated with Visual Discrimination,” in 13th International Congress on Schizophrenia Research (ICOSR), Colorado Springs, Colorado, 2011.

Patents

  1. Ferguson, Peter Walker. “Probe for Identification of Ocular Tissues During Surgery,” U.S. Provisional Patent Application No. 63/210,256, filed: Jun 14, 2021. Patent pending.

Honors and Awards

  • UCLA MAE Department Outstanding 2021 Teaching Assistant Award
  • UCLA MAE Department Honorable Mention for Teaching Assistant Award
  • Best Poster Award in 2017 Southern California Robotics Symposium
  • Graduated Cum Laude from Loyola Marymount University
  • Graduated from the University Honors Program of Loyola Marymount University
  • Recipient of the Daring Honey Badger Rescue Award for assisting the injured and preventing further injuries during a severe windstorm that caused a power outage and building entranceway collapse at Loyola Marymount University
  • Two time recipient of the A. Hannon Engineering Endowment Scholarship
  • Seven time recognition on the Dean's List of the Seaver College of Science and Engineering of LMU
  • Membership in Tau Beta Pi national engineering honors society
  • Membership in Delta Epsilon Iota academic honors society
  • Recipient of the Arrupe Scholarship

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