Last updated on March 12th, 2017

Welcome to my portal for research and projects.  My research interests include mechanical engineering, robotics, controls, system identification, electronics, software programming, and optical spectroscopy.  I received my S.B. in 2008, double majoring in Mechanical Engineering and Economics at MIT. I completed my S.M. in Mechanical Engineering from MIT in 2010 and I worked on nonlinear stochastic system identification techniques.  I received my Ph.D. from MIT in February 2015 and my work was on the design of miniature Fourier transform imaging spectrometers and advanced sampling techniques.

Contact: yichen@mit.edu

Research Highlights

Robotic Endoscope

As tools, sensors, and requirements for many visual diagnostic and minimally invasive medical procedures become more complex, the basic endoscope platform used as the workhorse for these procedures also needs to evolve. Endoscopes have not only been used for traditional colonoscopies but have have been adapted for use in natural orifice translumenal endoscopic surgery (NOTES), minimally invasive surgeries, and several other novel procedures. Each of these procedures requires (or can benefit from) assisted tool positioning, closed-loop position control, feature tracking and image stabilization, built-in force limits, and haptic feedback. [Read More]

Nonlinear Stochastic System Identification
Black-box, nonlinear stochastic system identification techniques, such as Wiener, Hammerstein, and Volterra configurations provide broad frameworks of assumptions to model data.  These methods are used in this project to describe physical systems such as the mechanical properties of skin in indentation, extension and surface mechanics configurations. I have also developed Lorentz force linear actuator systems with high-bandwidth characteristics for the purpose of discovering the nonlinear dynamic properties of biological tissues. [Read More]