Timothy McPherson

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About

Timothy McPherson is a researcher whose work sits at the intersection of robotics, medical devices, and human-machine interaction. His primary research areas include the development of MRI-compatible surgical robots, haptic interfaces, and advanced control systems for human-robot collaboration. McPherson’s most notable contribution is his pioneering work on a force and displacement self-sensing piezoelectric tweezer end effector, designed for robot-assisted MRI-guided surgery. This device, detailed in his most-cited paper (58 citations), uses nested strain amplification mechanisms to achieve precise actuation within the strong magnetic fields of an MRI scanner, a significant challenge in the field. The on-site calibration procedure he developed ensures reliable performance in this demanding environment. Additionally, McPherson has explored improving human-robot interfaces by measuring muscle stiffness, proposing a novel method to adjust controller gains in real-time to counteract instabilities caused by human operators stiffening their arms. This work, while less cited, addresses a critical safety and performance issue in haptic devices. His contributions are particularly valuable for advancing the precision and safety of surgical robotics and collaborative robotic systems.