I joined the MIT mechatronics research lab as an undergraduate researcher for the summer to work with Steven Yeung on his thesis project under the supervision of Kamal Yousef-Toumi. The majority of the contents of this research cannot yet be disclosed as the final publication of his paper is currently awaiting approval. That being said, throughout the summer I designed and fabricated mounts for sensors, structural pieces for the main testing plant, and more specific mechanisms that I cannot yet disclose..