About Me

My name is Umit, and currently I am a PhD student at the University of Massachusetts Amherst. Previously, I was a full-time engineer at ASELSAN , and an undergraduate student & researcher at Kadir Has University .

Email: umitsen@umass.edu

Research

My research focuses on soft robotics, particularly snake-inspired soft robot design and locomotion. I aim to understand how snakes exploit frictional anisotropy to achieve locomotion, and how this principle can be replicated through soft materials and compliant structures. Previously, I contributed journal papers on haptic interfaces & wearable haptic device design, multi-robot coordination, and visible light positioning.

Soft Robotic Snake Design & Locomotion

Ph.D. Research · University of Massachusetts Amherst (2024 – Present)
Advisor: Assist. Prof. Gina Olson

Developing a soft robotic snake capable of achieving snake-like locomotion through frictional anisotropy.
Fabricating pneumatic McKibben actuators and designing bioinspired robotic skins via elastomer molding and FDM-based 3D printing.
Performing experimental design and data analysis to assess how surface properties affect locomotion efficiency.
Awarded two merit-based fellowships for research in the first year of the Ph.D. program.

Papers

Manuscript submitted to RoboSoft 2026; authorship details withheld due to double-blind review.
Y. Nandwana, U. Sen, G. Olson, “A Highly Articulated Backbone for Soft Snake Robots,” in Living Machines, Sheffield, UK, 2025. [Accepted]

Haptics

Wrist-Worn Haptic Device

Senior Thesis · Kadir Has University (2022 – 2023)
Advisor: Assist. Prof. Mine Sarac Stroppa

Designed and built a wrist-worn haptic interface using a custom voice-coil actuator.
Developed an embedded electronics board and implemented a firmware for actuator control and sensor integration.
Designed an ergonomic actuator hardware to enhance user comfort and ensure consistent transmission of haptic feedback.
Validated system performance via user studies.
Integrated the device with Unity3D via UART protocol to provide real-time haptic feedback during virtual interactions in a VR environment.

IEEE RA-L | World Haptics 23

Haptic Game Interface Design

Research Project · Kadir Has University, Cornell University, WSU, UCLA · 2024
Advisor: Assist. Prof. Mine Sarac Stroppa
Collaborators: Assist. Prof. Fabio Stroppa, Assist. Prof. Cara Nunez, Assist. Prof. Kyle Yoshida

Aimed to translate psychophysical experimentation into an engaging and accessible format through interactive mobile games.
Developed the game in Unity for iOS, with haptic rendering mechanism.
Implemented three haptic feedback modes: collision, adaptive, and predictive cues.
Enabled real-time data collection for psychophysical analysis.

IEEE ToH

Visible-Light Positioning

Undergraduate Research Assistant · Kadir Has University
Advisors: Emeritus Prof. Erdal Panayirci and Assoc. Prof. Taner Arsan

Simulated spatial-modulation-based 3D indoor positioning algorithms using MATLAB.
Performed Monte Carlo-based data analysis and parameter optimization.
Designed experimental trajectories to systematically evaluate and optimize the performance of the proposed VLP algorithm.
Led to my first first-author publication in Optics Communications (2023).

Optics Communications

Robot Swarm Coordination

Undergraduate Research Assistant · Kadir Has University
Advisor: Prof. Feza Kerestecioglu

Worked on communication-free swarm coordination using local cost-minimization strategies.
Designed cost functions enabling circular group formation and tested them through MATLAB simulations.
Results published in Adaptive Behavior (2024).

Adaptive Behavior

Work Experience

Control Design Engineer

ASELSAN · Ankara, Türkiye · Full-Time Engineer · 08/2023 - 08/2024

Conducted system identification, controller design, and validation of control laws for satcom antenna systems.
Developed frequency-domain algorithms to automate and optimize the controller design process.
Worked on control architectures using Model-Based Design in Simulink.
Performed hardware-in-the-loop (HIL) testing using Speedgoat real-time computers that are integrated with Simulink.
Built MATLAB App Designer interfaces for control development, and data analysis.

Engineering Intern

Turkish Aerospace Industries· Ankara, Türkiye · 08/2022 - 09/2022

Gained hands-on experience in developing aviation-grade electronic systems for embedded applications.
Worked on Bills of Materials (BOM) for electronic components, checking their availability and suitability for the intended application

Awards & Honors

Robert and Deanna Hagerty Scholarship

University of Massachusetts Amherst · 2025

$3,000 merit based award given for an interest or excellence in the field of Robotics through coursework, research and/or extracurricular activities.

Joseph E. Motherway Fellowship

University of Massachusetts Amherst · 2025

Monetary award given to an outstanding student for their work in the area of design at University of Massachusetts Amherst.

Valedictorian

Kadir Has University · 2023

Graduated as Valedictorian of Class of 2023 with a 4.00/4.00 GPA.

Talks & Presentations

Lightning Talk — College of Engineering

Amherst, MA · 2025

Selected to participate in the 90-second research talk competition, presenting work on snake-inspired soft robotic locomotion.

Delivered both an oral and poster presentation as one of 50 engineering graduate students chosen to showcase their research.

Poster Presentation — 2023 IEEE World Haptics Conference

Delft, Netherlands · 2023

Presented research on a wrist-worn haptic device.

Served as a student volunteer, assisting with conference organization, session coordination, and speaker support.

Teaching Experience

Graduate Teaching Assistant — University of Massachusetts Amherst

Amherst, MA

MIE124 - Computer Prog. for Eng. Problem Solving - Spring 2025

Undergraduate Teaching Assistant — Kadir Has University

İstanbul, Türkiye

KHAS109 - Computational Thinking (Undergrad TA) - Fall 2022
KHAS110 - Civic Responsibility Project - Spring 2022
KHAS101- Origins and Consequences - Fall 2021
TLL102 - Critical Reading and Writing in Turkish II - Spring 2021
TLL101 - Critical Reading and Writing in Turkish I - Fall 2020

Skills

Prototyping & Hardware

3D Printing (FDM) — used to prototype and fabricate soft robotic snake components, mechanical parts for a wrist-worn haptic interface, and custom fixtures for experimental testing.
Silicone Molding & Casting — used in the development of pneumatic McKibben actuators, bioinspired soft snake skins.
SolidWorks & Fusion 360 — utilized for all design elements produced for research&classes.
Sensor Integration & Circuit Design — implemented for wrist-worn haptic device controller boards, pneumatic soft robot actuation systems using air pumps and valves, and electronic navigation subsystems in engineering competition projects.
Material Testing — conducted bonding and tensile tests of elastomers using a universal testing machine.
Experiment & User Study Design — designed and performed friction and locomotion experiments for soft robots, and user studies for wearable haptic devices.

Software

MATLAB & Simulink — extensive experience through full-time control design engineering work, robot swarm and visible-light positioning simulations, data analysis for research.
Embedded Programming (C/C++, MicroPython) — developed firmware for STM32, Raspberry Pi Pico, and Arduino-based controllers for class & competition projects and for research on haptic devices & soft robotic actuators.
C# & Unity3D — used in VR applications for haptic research and game design in course projects.
ANSYS — used for structural simulations of soft and rigid systems in graduate-level courses.
Python — applied for multiple course projects for data analysis
Machine Learning Specialization — completed Andrew Ng’s Machine Learning course.
ROS (Robot Operating System) — used for class projects, notably, implemented a wireless teleoperation system for two robotic arms via a ROS server

Umit Sen