Allen Jiang

Allen Jiang, PhD

Email: allen.jiang@kcl.ac.uk

Biography

Allen Jiang was a PhD student from 2010-2014 under the supervision of Thrishantha Nanayakkara, Prokar Dasgupta, and Kaspar Althoefer. He focused on granular jamming as a variable stiffness mechanism for a miniature snake-like robot for minimally invasive surgeries. Additional research involves impedance control, adaptive robotics in uncertain environments, and pneumatic actuation.

Allen Jiang received his bachelors degree at the University of California, San Diego in aerospace engineering. He later received a doctorate from King’s College London in robotics.He has participated in combat robotics competitions including BattleBots and Robogames as part of the Triton Robotix team from 2008-2010. He also competed in the DARPA Grand Robotics Challenge as part of the King’s College Team in 2013.

Description of Research

Design and construction of a variable stiffness flexible manipulator for minimally invasive surgeries.

Current laparoscopic tools for minimally invasive surgery (MIS) and popular robotic tools, such as the Intuitive da Vinci robot, have straight, rigid arms. While these tools are good and have improved patient recovery times and have reduced patient trauma.

Research Interests

  • Medical robotics
  • Snake-like robotics
  • Flexible manipulators
  • Granular jamming
  • Pneumatic actuators
  • Passive compliance

Allen’s research is part of the EU FP7 project called STIFF-FLOP.

Publications

Journal

A. Jiang, T. Ranzani, G. Gerboni, L. Lekstutyte, K. Althoefer, P. Dasgupta, and T. Nanayakkara, “Robotic Granular Jamming: Does the Membrane Matter?” Soft Robotics, 2014. (accepted)

A. Jiang, M. D. R. A. Fernandez, J. Bimbo, and T. Nanayakkara, “Statistics-based Control for Maintaining Grip on a Dynamically Uncertain Object,” Advanced Robotics, 2014. (accepted)

A. Jiang, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Robotic Granular Jamming: A New Variable Stiffness Mechanism,” Journal of Robotics Society of Japan, 2014.

M. Li, H. Liu, A. Jiang, L. Seneviratne, P. Dasgupta, K. Althoefer, and H. Wurdemann, “Intra-operative tumour localisation in robot-assisted minimally invasive surgery: a review,” Journal of Engineering in Medicine, 2014.

H. Xie, A. Jiang, H. Wurdemann, H. Liu, L. Seneviratne, and K. Althoefer, “Magnetic Resonance-Compatible Tactile Force Sensor using Fiber Optics and Vision Sensor,” IEEE Sensors Journal, 2014.

Conferences

A. Jiang, S. Adejokun, A. Faragasso, K. Althoefer, P. Dasgupta, T. Nanayakkara, “The granular jamming integrated actuator,” International Conference on Advanced Robotics and Intelligent Systems (ARIS 2014), Taipei, Taiwan, 2014.

A. Jiang, E. Secco, H. Wurdemann, T. Nanayakkara, P. Dasgupta, K. Athoefer, “Stiffness-controllable octopus-like robot arm for minimally invasive surgery,” 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2013), Verona, Italy, 2013.

A. Jiang, T. Aste, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Granular jamming with hydraulic control,” ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC 2013), Portland, OR, USA, 2013.

A. Jiang, T. Aste, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Granular jamming transitions for a robotic mechanism,” Powders & Grains 2013, Sydney, Australia, 2013.

A. Jiang, P. Agrawal, K. Althoefer, T. Nanayakkara, P. Dasgupta, , “Bio-inspired connective granular jamming for a robotic limb,”  35th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), Osaka, Japan, 2013.

A. Jiang, K. Althoefer, P. Dasgupta, T. Nanayakkara, “The Core-Snake, the variable stiffness laparoscopic camera,” The Hamlyn Symposium on Medical Robotics, London, United Kingdom, 2013.

A. Jiang, G. Xynogalas, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, 2012.

A. Jiang, J. Bimbo, S. Goulder, H. Liu, X. Song, and T. Nanayakkara, “Adaptive grip control on an uncertain object”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, 2012.

A. Jiang, K. Althoefer, T. Nanayakkara, and P. Dasgupta, “Granular jamming for minimally invasive surgeries,” 30th World Congress of Endourology and SWL (WCE 2012), Istanbul, Turkey, 2012.

A. Jiang, A. Ataollahi, K. Althoefer, P. Dasgupta, and T. Nanayakkara, “A variable stiffness joint by granular jamming,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC 2012), Chicago, IL, USA, 2012.

S. Sareh, A. Jiang, A. Faragasso, Y. Noh, T. Nanayakkara, P. Dasgupta, L. Seneviratne, H. Wurdemann, and K. Althoefer, “Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.

A. Faragasso, J. Bimbo, Y. Noh, A. Jiang, S. Sareh, H. Liu, T. Nanayakkara, H. Wurdemann, K. Althoefer, “Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, 2014.

H. Xie, A. Jiang, L. Seneviratne, and K. Althoefer, “Pixel-based Optical Fiber Tactile Force Sensor for Robot Manipulation,” IEEE Sensors 2012, Taipei, Taiwan, 2012.

F. Bianchi, G. Bartoli, K. Shoar, M. R. A. Fernandez, V. Pereno, J. Zirjakova, A. Jiang, and T. Nanayakkara, “Adaptive internal impedance control for stable walking on uncertain visco-elastic terrains,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, 2012.

H.A. Wurdemann, A. Jiang, T. Nanayakkara, L.D. Seneviratne, K. Althoefer, “Variable Stiffness Controllable and Learnable Manipulator for MIS,” IEEE International Conference on Robotics and Automation (ICRA 2012) Workshop, St Paul, MN, USA, 2012.