Long Wang

Assistant Professor

School: School of Engineering and Science

Department: Mechanical Engineering

Building: Edwin A. Stevens Hall

Room: 130D

Phone: (201) 2165039

Email: lwang4@stevens.edu

Website

Education
  • PhD (2018) Vanderbilt University (Mechanical Engineering)
  • MS (2012) Columbia University (Mechanical Engineering)
  • BS (2010) Tsinghua University (Mechanical Engineering)
Research

My passion is in building robots and intelligent machines to help tasks in challenging environments. My research interest lies in modeling, sensing, control and design of robots. I have experiences in telemanipulation, kinematic modeling and calibration, force control, continuum robots, and robotic hand designs. The applications that I am mostly interested in include robot-assisted minimally invasive surgery, and remotely operated manipulation tasks.

Professional Service
  • ASME Journal of Mechanisms and Robotics Electronic Media Associate Editor
  • IEEE Robotics & Automation Society Technical Committee for Surgical Robotics Media Co-chair
Appointments

Assistant Professor, Department of Mechanical Engineering, Stevens Institute of Technology, 2019-Present

Adjunct Associate Research Scientist, Department of Mechanical Engineering , Columbia University, 2019-Present

Postdoctoral Research Scientist, Department of Mechanical Engineering , Columbia University, 2018-2019

Selected Publications
Book Chapter
  1. Wang, L.; Simaan, N. (2014). Investigation of Error Propagation in Multi-backbone Continuum Robots. Advances in Robot Kinematics (pp. 385--394). Cham: Springer International Publishing.
    http://link.springer.com/10.1007/978-3-319-06698-1/_40.
Conference Proceeding
  1. Garbin, N.; Wang, L.; Chandler, J. H.; Obstein, K. L.; Simaan, N.; Valdastri, P. (2018). A disposable continuum endoscope using piston-driven parallel bellow actuator. 2018 International Symposium on Medical Robotics (ISMR) (vol. 2018-Janua, pp. 1--6). Atlanta, GA, US: IEEE.
    http://ieeexplore.ieee.org/document/8333287/.
  2. Yasin, R.; Wang, L.; Abah, C.; Simaan, N. (2018). Using continuum robots for force-controlled semi autonomous organ exploration and registration. 2018 International Symposium on Medical Robotics (ISMR) (vol. 2018-Janua, pp. 1--6). IEEE.
    http://ieeexplore.ieee.org/document/8333309/.
  3. Del Giudice, G.; Wang, L.; Shen, J.; Joos, K.; Simaan, N. (2017). Continuum robots for multi-scale motion: Micro-scale motion through equilibrium modulation. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (vol. 2017-Septe, pp. 2537--2542). Vancouver, British Columbia, Canada: IEEE.
    http://ieeexplore.ieee.org/document/8206074/.
  4. Wang, L.; Chen, Z.; Chalasani, P.; Pile, J.; Kazanzides, P.; Taylor, R. H.; Simaan, N. (2016). Updating Virtual Fixtures From Exploration Data in Force-Controlled Model-Based Telemanipulation. ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (pp. V05AT07A031). Charlotte, North Carolina, USA: ASME.
    http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?doi=10.1115/DETC2016-59305.
  5. Srivatsan, R. A.; Ayvali, E.; Wang, L.; Roy, R.; Simaan, N.; Choset, H. (2016). Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments. 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 924--930). IEEE.
    http://ieeexplore.ieee.org/document/7487224/.
  6. Chalasani, P.; Wang, L.; Roy, R.; Simaan, N.; Taylor, R. H.; Kobilarov, M. (2016). Concurrent nonparametric estimation of organ geometry and tissue stiffness using continuous adaptive palpation. 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 4164--4171). IEEE.
    http://ieeexplore.ieee.org/document/7487609/.
  7. Roy, R.; Wang, L.; Simaan, N. (2016). Investigation of effects of dynamics on intrinsic wrench sensing in continuum robots. 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2052--2059). IEEE.
    http://ieeexplore.ieee.org/document/7487353/.
  8. Ayvali, E.; Srivatsan, R. A.; Wang, L.; Roy, R.; Simaan, N.; Choset, H. (2016). Using Bayesian optimization to guide probing of a flexible environment for simultaneous registration and stiffness mapping. 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 931--936). IEEE.
    http://ieeexplore.ieee.org/document/7487225/.
  9. Bajo, A.; Goldman, R. E.; Wang, L.; Fowler, D.; Simaan, N. (2012). Integration and preliminary evaluation of an Insertable Robotic Effectors Platform for Single Port Access Surgery. 2012 IEEE International Conference on Robotics and Automation (pp. 3381--3387). IEEE.
    http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6224986.
  10. Wang, L.; DelPreto, J.; Bhattacharyya, S.; Weisz, J.; Allen, P. K. (2011). A highly-underactuated robotic hand with force and joint angle sensors. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1380--1385). IEEE.
    http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6095147.
Journal Article
  1. Chen, Y.; Wang, L.; Galloway, K.; Godage, I.; Simaan, N.; Barth, E. (2020). Modal-Based Kinematics and Contact Detection of Soft Robots. Soft Robotics (pp. 298-309).
    https://www.liebertpub.com/doi/10.1089/soro.2019.0095.
  2. Chen, T.; Wang, L.; Haas-Heger, M.; Ciocarlie, M. (2020). Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces. IEEE Transactions on Robotics (3 ed., vol. 36, pp. 708-723).
  3. Wang, L.; Del Giudice, G.; Simaan, N. (2019). Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration. Journal of Mechanisms and Robotics (5 ed., vol. 11, pp. 051013 ). ASME.
    https://doi.org/10.1115/1.4044162.
  4. Garbin, N.; Wang, L.; Chandler, J. H.; Obstein, K. L.; Simaan, N.; Valdastri, P. (2019). Dual-Continuum Design Approach for Intuitive and Low-Cost Upper Gastrointestinal Endoscopy. IEEE Transactions on Biomedical Engineering (7 ed., vol. 66, pp. 1963--1974).
    https://ieeexplore.ieee.org/document/8537950/.
  5. Wang, L.; Simaan, N. (2019). Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations. IEEE Transactions on Robotics (2 ed., vol. 35, pp. 387--402). IEEE.
    https://ieeexplore.ieee.org/document/8681231/.
  6. Chalasani, P.; Wang, L.; Yasin, R.; Simaan, N.; Taylor, R. H. (2018). Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness. IEEE Robotics and Automation Letters (3 ed., vol. 3, pp. 1816--1823).
    http://ieeexplore.ieee.org/document/8279448/.
  7. Wang, L.; Chen, Z.; Chalasani, P.; Yasin, R. M.; Kazanzides, P.; Taylor, R. H.; Simaan, N. (2017). Force-Controlled Exploration for Updating Virtual Fixture Geometry in Model-Mediated Telemanipulation. Journal of Mechanisms and Robotics (2 ed., vol. 9, pp. 021010). American Society of Mechanical Engineers.
    http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?doi=10.1115/1.4035684%20https://asmedigitalcollection.asme.org/mechanismsrobotics/article/doi/10.1115/1.4035684/473106/ForceControlled-Exploration-for-Updating-Virtual.
  8. Roy, R.; Wang, L.; Simaan, N. (2017). Modeling and Estimation of Friction, Extension, and Coupling Effects in Multisegment Continuum Robots. IEEE/ASME Transactions on Mechatronics (2 ed., vol. 22, pp. 909--920).
    http://ieeexplore.ieee.org/document/7795260/.
  9. Ayvali, E.; Ansari, A.; Wang, L.; Simaan, N.; Choset, H. (2017). Utility-Guided Palpation for Locating Tissue Abnormalities. IEEE Robotics and Automation Letters (2 ed., vol. 2, pp. 864--871).
    http://ieeexplore.ieee.org/document/7827116/.
  10. Groom, K.; Wang, L.; Simaan, N.; Netterville, J. (2015). Robot-assisted transnasal laryngoplasty in cadaveric models: Quantifying forces and identifying challenges. The Laryngoscope (5 ed., vol. 125, pp. 1166--1168).
    http://doi.wiley.com/10.1002/lary.25148.
  11. Simaan, N.; Bajo, A.; Reiter, A.; Wang, L.; Allen, P.; Fowler, D. (2013). Lessons learned using the insertable robotic effector platform (IREP) for single port access surgery. Journal of Robotic Surgery (3 ed., vol. 7, pp. 235--240). Springer London.
    http://link.springer.com/10.1007/s11701-013-0400-9.
Courses

ME 621 Intro to Modern Control Engineering
E 120 Engineering Graphics
ENGR 111: Introduction to Design and Systems Thinking