Oculus-controlled robotic arm

I model and build the whole arm myself — designed in SolidWorks, every part printed from scratch, no kit involved. I drive it in real time from a VR headset: move your hand, the arm follows.

• A 5-DOF arm built from scratch in SolidWorks, carrying joint loads on bearings rather than servo output shafts, with two shoulder servos mirrored across a single pivot to share torque
• Three design iterations of tuning print orientation, press-fit tolerances and fastener access (DFM/DFA) cut part count and build time — it assembles from FDM parts and off-the-shelf hardware using hand tools
• A WebXR app solves closed-form inverse kinematics at 50 Hz, a Node.js bridge maps joint angles to servo commands, and C++ ESP32 firmware enforces per-joint velocity and acceleration limits over serial/UDP
• Designing a PCB to replace the breadboard — servo power distribution, ESP32 and signal routing on one board instead of a bundle of jumper wires
• Next: recording teleop sessions as demonstrations and training a policy on them, so the arm learns tasks from being shown rather than being scripted — the physical AI side is what I'm most interested in