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Allen Jiang
Researcher at King's College London
Publications - 26
Citations - 1353
Allen Jiang is an academic researcher from King's College London. The author has contributed to research in topics: Jamming & Tactile sensor. The author has an hindex of 18, co-authored 26 publications receiving 1214 citations.
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Patent
Microsurgical tool for robotic applications
TL;DR: In this paper, an end effector platform moveable along a fixed trajectory on a fictional axle is used for articulating an end-effector platform throughout a pitch DOF with an amplified pitch angle, and a partial pulley system is used to articulate the arms while maximizing the pulley radius to shaft diameter.
Proceedings ArticleDOI
Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
TL;DR: The design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter is presented, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators.
Journal ArticleDOI
Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery: A Review
Jelizaveta Konstantinova,Allen Jiang,Kaspar Althoefer,Prokar Dasgupta,Thrishantha Nanayakkara +4 more
TL;DR: The objective of this paper is to review the latest advancements and challenges in the development of tactile sensing devices designed for surgical applications, focusing on palpation and probing devices that can be potentially used in RMIS.
Patent
Configurable robotic surgical system with virtual rail and flexible endoscope
TL;DR: In this article, a group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms, and the virtual rail may be rotated about a point on the virtual line.
Journal ArticleDOI
Robotic Granular Jamming: Does the Membrane Matter?
Allen Jiang,Tommaso Ranzani,Giada Gerboni,Laura Lekstutyte,Kaspar Althoefer,Prokar Dasgupta,Thrishantha Nanayakkara +6 more
TL;DR: In this paper, a variable stiffness mechanism is proposed to reconcile the requirements of compliance and stability; the mechanism explored here is granular jamming, a phenomenon in which particulate matter within a membrane can transition from a fluidlike to a solidlike state, based on the level of applied vacuum pressure.