Heather Jin Hee Kim

Research Abstract:

In the field of "robotic textiles," large deformations in knit structures enable versatile motion and complex 3D shapes that conform to the body. These textiles feature compliant actuators and functional materials, making them safe for human interaction. Previous research has shown promise with pneumatically and electrically driven textiles in controlled lab settings. However, for real-world applications, they must be performant in given individual human variability in terms of anthropometry, physiology, and psychophysics. Heather’s research explores the applications of robotic textiles in the context of task-specific motions and personalized tele-rehabilitation, for which addressing individual users is paramount for optimal performance and delivery of adequate physical care. She employs 3D knitting to create convex projective structures that conform to the human body, while integrating compliant actuators and microcontrollers without impeding natural movement. Such an accomplishment is a key advantage over traditionally rigid contraptions. Leveraging compliant attributes, the devices offer various taskable functionalities, including passive locomotion, end-effector-less tactile feedback, and variable stiffness. These systems are implemented across various body shapes and users, with responses analyzed using empirical, statistical, and qualitative methods. With the help of power-efficient actuators, robotics textiles further hold potential for remote mechanotherapy. The digital knitting process allows precise customization, departing from the one-size-fits-all approach of standard medical devices. Customized robotic textile devices provide inclusive and accessible therapy to a broader range of patients, including those with unique anatomical requirements. To scale robotic textiles to a larger healthcare network, Heather is currently developing a design tool that automates personalization and allows design adaptation by healthcare providers.

Bio:

Heather Kim is a PhD candidate at Cornell University working with Dr. Cindy Kao. Her research centers on robotic textiles, thriving at the intersection of soft robotics and human-computer interaction (HCI). Heather's research is characterized by the development of 3D knit structures, versatile materials, and actuators to create wearable devices. She has explored locomotive robots, discreet tactile systems without traditional end effectors, and active compression devices for edema patients. Her long-term vision encompasses a prescriptive model for telerehabilitation, empowering healthcare professionals to fine-tune the forces and designs of textile-based devices to suit each patient's specific needs, ultimately delivering therapy remotely. Heather's contributions have been published at robotics and HCI venues such as IEEE IROS, ACM CHI, and DIS, with Best Paper Honorable Mention awards. Her work has also been featured in the Daily Mail, New Atlas, Trend Hunter, Hackster.io, and the Cornell Chronicle.