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Hello

I'm Clark Teeple,
a Senior Hardware Engineer

at RightHand Robotics

I make {safe, robust, intelligent} robotic hands.
I am a roboticist with experience in end effector design, embedded systems, and robotic system integration. I am interested in applying my creative engineering mindset to solve impactful, real-world problems in robotics.

Education

Harvard University

2016-2021

PhD in Engineering Sciences (Robotics)

  • Dissertation Title: "Design Principles for Improving Precision and Dexterity of Soft Robotic Hands"
  • Advisor: Prof. Robert Wood

PhD in Engineering Sciences (Robotics)

Harvard University

2016-2021

  • Dissertation Title: "Design Principles for Improving Precision and Dexterity of Soft Robotic Hands"
  • Advisor: Prof. Robert Wood

Harvard University

2016-2018

M.S. in Engineering Sciences (Mechanical Engineering)

Earned en route to the PhD.

M.S. in Engineering Sciences (Mechanical Engineering)

Harvard University

2016-2018

Earned en route to the PhD.

University of Michigan

2012-2016

B.S.E. in Mechanical Engineering

3.90 GPA, Graduated Summa Cum Laude

B.S.E. in Mechanical Engineering

University of Michigan

2012-2016

3.90 GPA, Graduated Summa Cum Laude

Experience

RightHand Robotics

2022-Present

Senior Hardware Engineer, R&D

As part of the Hardware R&D group, I am helping to improve gripper performance and explore exciting new capabillities.

RightHand Robotics

Senior Hardware Engineer, R&D

2022-Present

As part of the Hardware R&D group, I am helping to improve gripper performance and explore exciting new capabillities.

Harvard Microrobotics Lab

2022-2022

Postdoctoral Fellow

Advised by Prof. Robert Wood, I am continuing my work on soft manipulation with a new focus on using simulation

Harvard Microrobotics Lab

Postdoctoral Fellow

2022-2022

Advised by Prof. Robert Wood, I am continuing my work on soft manipulation with a new focus on using simulation

Harvard Microrobotics Lab

2016-2021

PhD Candidate

Advised by Prof. Robert Wood, I studied soft robotic hands for a variety of real-world applications including deep-sea sampling, precise grasping, and in-hand manipulation.

Harvard Microrobotics Lab

PhD Candidate

2016-2021

Advised by Prof. Robert Wood, I studied soft robotic hands for a variety of real-world applications including deep-sea sampling, precise grasping, and in-hand manipulation.

Vibration and Acoustics Laboratory: Microsystems, University of Michigan

2015-2016

Undergraduate Research Assistant

My work involved studying locomotion of small-scale legged robots. Our robots used piezoelectric bending actuators to move the legs at very high frequencies.

Vibration and Acoustics Laboratory: Microsystems, University of Michigan

Undergraduate Research Assistant

2015-2016

My work involved studying locomotion of small-scale legged robots. Our robots used piezoelectric bending actuators to move the legs at very high frequencies.

University of Michigan

2015-2016

Mechanical Design Lead (Senior Design)

My interdisciplinary team developed a haptic wristband and associated vision system to help provide navigational directions for people with low vision. As the mechanical design lead, I was in charge of the haptic wristband design and integration, and was able to evaluate and refine our design through user studies at the Kellogg Eye Center.

University of Michigan

Mechanical Design Lead (Senior Design)

2015-2016

My interdisciplinary team developed a haptic wristband and associated vision system to help provide navigational directions for people with low vision. As the mechanical design lead, I was in charge of the haptic wristband design and integration, and was able to evaluate and refine our design through user studies at the Kellogg Eye Center.

MIT Lincoln Laboratory

Summer 2015

Summer Intern

I worked in the Chemical, Microsystems, and Nanoscale Technology group. I developed control systems and a LabVIEW user interface to automate the operation of a mobile mass spectrometry platform for use in improving canine explosives detection training.

MIT Lincoln Laboratory

Summer Intern

Summer 2015

I worked in the Chemical, Microsystems, and Nanoscale Technology group. I developed control systems and a LabVIEW user interface to automate the operation of a mobile mass spectrometry platform for use in improving canine explosives detection training.

Lahann Laboratory, University of Michigan

2013-2015

Undergraduate Research Assistant

I developed a LabVIEW / CAD interface to expand the capabilities of the lab’s existing tissue engineering scaffold manufacturing process. I then used this new interface to design and manufacture novel scaffold architectures.

Lahann Laboratory, University of Michigan

Undergraduate Research Assistant

2013-2015

I developed a LabVIEW / CAD interface to expand the capabilities of the lab’s existing tissue engineering scaffold manufacturing process. I then used this new interface to design and manufacture novel scaffold architectures.

Kandu Incorporated

Summer 2013

Manufacturing Engineering Intern

I designed and built fixtures to aid physically/mentally disabled clients with production tasks. I also analyzed production lines in order to improve product flow and increase efficiency.

Kandu Incorporated

Manufacturing Engineering Intern

Summer 2013

I designed and built fixtures to aid physically/mentally disabled clients with production tasks. I also analyzed production lines in order to improve product flow and increase efficiency.

Research Projects

(2019-Present)
The last few years, I have been working to understand how to design soft robotics hands with enough dexterity to perform in-hand manipulation. I am looking at all aspects of hand design including finger design (and relevant workspace), finger arrangement, and palm design.
(2020-Present)
Together with Moritz Graule and a few others, we are developing a fast, accurate simulation framework for continuum robots in complex, dynamic environments.
(2020-Present)
Multi-dimensional compliance makes soft robotic hands well-suited for gently grasping and manipulating fabric and other thin, flexible objects.
(2017-2019)
How can we design soft hands with high dexterity using minimal added complexity? I've been exploring this question in my research, leading to several interesting insights about finger design for precision grasping.


Integration Projects

(2022-Present)
This ROS package and associated GUI make use of the 6-axis force/torque sensor on the Universal Robot e-series arms to apply complex loads to materials. We can essentially perform tests similar to an Instron Uniaxial Testing machine, but in all six axes.
  • ROS
  • Python
(2020-Present)
I wrote a useful tool to generate trajectory functions for use with both Ctrl-P pressure controllers (for real-world soft robots) and SoMo simulations (for virtual soft robots).
(2019-Present)
I wrote some useful high-level ROS packages to coordinate a UR5e arm with my custom pressure control system for soft hands.
(2018-Present)
Smooth pressure control is a useful and straightforward way to control soft robotic fingers. I built a custom pneumatic control system for my research, including microcontroller firmware for realtime pressure control, a python-based control interface, and ROS drivers for integration with other robotic subsystems.

I have now built four systems, all of which are actively used by lab members on a daily basis. Additionally, systems can be easily chained together for applications requiring more than 10 channels.
(2018-Present)
I designed a custom PCB to route pressure sensor signals and valve control circuits to/from a Teensy 3.5 microcontroller. This board also has several expansion pins exposed, and buttons for debugging.
  • Electronics
  • PCB Design
(2019-Present)
I needed a central place to document a bunch of random procedures and commands I use daily. I am also using this documentation site to document how I built it (doc-ception).
  • Web Dev.

Leadership

Community Outreach Lead

SEAS Graduate Council, Harvard University

2019-Present

Leading a team of 8 dedicated grad students, I strive to push the Engineering School's community outreach activities to the next level. From volunteering at FIRST robotics competitions, to serving meals at local homeless shelters, our goal is to make it easier for grad students to volunteer!

STEM Outreach Co-Lead

Harvard Microrobotics Lab, Harvard University

2016-Present

I help coordinate our lab's efforts to attend local STEM expos and science fairs. Our lab is excited about outreach, and I am excited about coordinating it!

Co-President

SEAS Graduate Council, Harvard University

2017-2019

As co-president of the SEAS-GC, I helped to plan and execute social, professional, and outreach events in an effort to improve student life at SEAS. In addition, I worked to change the focus and mission of the organization to appeal more to students, and lead efforts to improve visibility.

Campus Outreach Officer

Tau Beta Pi, University of Michigan

Spring 2016

I worked to improve student life for all engineering students. As the manager of TBP's engineering tutoring service, I improved the speed and ease of requesting tutors by designing an online request system. Additionally, I worked to improve mental health through free breakfast for students every week.

Awards & Honors

Bok Center Excellence in Teaching Award

Harvard University - 2019

NSF Graduate Research Fellowship

Harvard University - 2017-2020

RISE Best Paper Award

Research, Innovation, Service and Entrepreneurship (RISE), University of Michigan - 2016

Active Member of Tau Beta Pi Engineering Honor Society

University of Michigan - 2014-2016

Teaching

Engineering Sciences 51 - Computer Aided Machine Design

Teaching Fellow, Harvard University

Fall 2018

An undergraduate-level class exploring the basics of mechanical engineering. In teams, students design, build, and test remote-controlled robots! I was in charge of two lab sections, held office hours, and graded assignments.

Outreach

Jan. 2020

Guest Presenter

Science on Screen Jr.

Coolidge Corner Theatre (Brookline, MA)

I presented exciting current research on soft robots, microrobots, and swarms as an introductions to the film Big Hero 6.

Dec. 2017, 2018, 2019

Judge

Massachusetts Championship - East

FIRST Robotics Lego League (FLL)

I've judged all three areas (Robot design, project, and core values)

Nov. 2017, 2018, 2019

Judge

Newton Qualifier Tournament

FIRST Robotics Lego League (FLL)

I've judged all three areas (Robot design, project, and core values)

April 2016, 2017, 2018

STEM Expo Attendee

Cambridge Science Festival

w/ Harvard Microrobotics Lab

We were part of the "Robot Zoo". We had a booth and showed off some cool demos of robots that we make in our lab.

March 2016, 2017, 2018, 2020

STEM Expo Attendee

Boston Public Schools Science Fair

w/ Harvard Microrobotics Lab

We had a booth and showed off some cool demos of robots that we make in our lab.

Dec. 2016

Team Spirit / Coaches Award Judge

Newton Qualifier Tournament

FIRST Robotics Lego League (FLL)

Judged teamwork and team spirit by interviewing teams in the setup area

Nov. 2016, 2018

STEM Expo Attendee

New Hampshire Tech Fest

w/ Harvard Microrobotics Lab

We had a booth and showed off some cool demos of robots that we make in our lab.

2014-2016

Volunteer

Roughly 3-4 STEM-related outreach events each semester.

Tau Beta Pi

During my undergrad at UMich, I volunteered with Tau Beta Pi at a variety of STEM outreach events promoting engineering and science to children. Our target group was usually students from underprivileged communities in the areas surrounding Ann Arbor.

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Publications

M.A. Graule, C.B. Teeple, and R.J. Wood,
"Contact-implicit Trajectory and Grasp Planning for Soft Continuum Manipulators,"
IEEE International Conference on Intelligent Robots and Systems (IROS)
,
2022
C.B. Teeple,
"Design Principles for Improving Precision and Dexterity of Soft Robotic Hands,"
PhD Dissertation
,
2022
C.B. Teeple, J. Werfel, and R.J. Wood,
"Multi-Dimensional Compliance of Soft Grippers Enables Gentle Interaction with Thin, Flexible Objects,"
IEEE International Conference on Robotics and Automation (ICRA)
,
2022
M.A. Graule, T.P. McCarthy, C.B. Teeple, J. Werfel, and R.J. Wood,
IEEE Robotics and Automation Letters
,
2022
C.B. Teeple, B. Aktas, M.C. Yuen, G.R. Kim, R.D. Howe, and R.J. Wood,
IEEE Robotics and Automation Letters
,
2022
C.B. Teeple, R.C. St. Louis, M.A Graule, and R.J. Wood,
IEEE International Conference on Intelligent Robots and Systems (IROS)
,
2021
M.A. Graule, C.B. Teeple, T.P. McCarthy, G.R Kim, R.C. St. Louis, and R.J. Wood,
IEEE International Conference on Intelligent Robots and Systems (IROS)
,
2021
C.B. Teeple, G.R. Kim, M.A Graule, and R.J. Wood,
IEEE International Conference on Robotics and Automation (ICRA)
,
2021
C.B. Teeple, T.N. Koutros, M.A. Graule, and R.J. Wood,
International Journal of Robotics Research
,
2020
N.R. Sinatra, C.B. Teeple, D.M. Vogt, K.K. Parker, D.F. Gruber, and R.J. Wood,
Science Robotics
,
2019
C.B. Teeple, K.P. Becker, and R.J. Wood,
IEEE International Conference on Intelligent Robots and Systems (IROS)
,
2018
J. Qu, C.B. Teeple, B. Zhang and K.R. Oldham,
2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)
,
2018
B.T. Phillips, K.P. Becker, S. Kurumaya, K.C. Galloway, G. Whittredge, D.M. Vogt, C.B. Teeple, M.H. Rosen, V.A. Pieribone, D.F. Gruber, and R.J. Wood,
Scientific Reports
,
2018
J.H. Jordahl, L. Solorio, H. Sun, S. Ramcharan, C.B. Teeple, H.R. Haley, … and J. Lahann,
Advanced Materials
,
2018
J. Zhang, C.B. Teeple, J. Choi, S. Kang, J.E. Rivas, and K.R. Oldham,
IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
,
2017