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Research Outputs

  1. 2018
  2. Haptic Information Gain in Remote Soft Tissue Examination Using a Controllable Stiffness Robotic Probe

    Weheliye, A., Sornkarn, N., Dasgupta, P. & Nanayakkara, T., 1 Dec 2018, 2018 IEEE 9th International Conference on Information and Automation for Sustainability, ICIAfS 2018. Institute of Electrical and Electronics Engineers Inc., 8913340

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  3. Toward a Low Hysteresis Helical Scale Jamming Interface Inspired by Teleost Fish Scale Morphology and Arrangement

    Sadati, S., Naghibi, S. E., Althoefer, K. A. & Nanayakkara, T., 2018, The first IEEE-RAS International Conference on Soft Robotics (RoboSoft 2018). IEEE, 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  4. 2017
  5. Mechanics of Continuum Manipulators, A Comparative Study of Five Methods with Experiments

    Sadati, S. M. H., Naghibi, S. E., Shiva, A., Walker, I. D., Althoefer, K. & Nanayakkara, T., 20 Jul 2017, Conference Towards Autonomous Robotic Systems. Surrey, UK: SPRINGER, Vol. 10454. p. 689-702

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  6. A Bio-Inspired electro-active Velcro mechanism using Shape Memory Alloy for wearable and stiffness controllable layers.

    Afrisal, H., Sadati, S. & Nanayakkara, T., 15 Jun 2017, Information and Automation for Sustainability (ICIAfS), 2016 8th International Conference on. IEEE. IEEE, 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  7. 2016
  8. A soft three axis force sensor useful for robot grippers

    Chathuranga, D. S., Wang, Z., Noh, Y., Nanayakkara, T. & Hirai, S., 28 Nov 2016, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-November. p. 5556-5563 8 p. 7759817

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  9. Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments

    Rizqi, A., Qi, P., Shiva, A., Shafti, A., Wurdemann, H., Dasgupta, P. & Althoefer, K., 28 Jul 2016, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE Computer Society Press, Vol. 2016-July. p. 600-605 6 p. 7523691

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  10. A Geometry Deformation Model for Compound Continuum Manipulators with External Loading

    Sadati, S., Shiva, A., Rizqi, A. A. A., Naghibi, S. E., Walker, I., Althoefer, K. A. & Nanayakkara, T., 8 Jun 2016, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., Vol. 2016-June. p. 4957-4962 6 p. 7487702

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  11. The Efficacy of Interaction Behavior and Internal Stiffness Control for Embodied Information Gain in Haptic Perception

    Sornkarn, N. & Nanayakkara, T., 8 Jun 2016, IEEE International Conference on Robotics and Automation 2016. IEEE, p. 2657-2662 6 p. 7487425

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  12. 2015
  13. Robust real time material classification algorithm using soft three axis tactile sensor: Evaluation of the algorithm

    Chathuranga, D. S., Wang, Z., Noh, Y., Nanayakkara, T. & Hirai, S., 11 Dec 2015, IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-December. p. 2093-2098 6 p. 7353655

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  14. Disposable soft 3 axis force sensor for biomedical applications

    Chathuranga, D. S., Wang, Z., Noh, Y., Nanayakkara, T. & Hirai, S., 4 Nov 2015, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November. p. 5521-5524 4 p. 7319642

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  15. Novel method to form adaptive internal impedance profiles in walkers

    Escudero Morland, M. F., Althoefer, K. & Nanayakkara, T., 4 Nov 2015, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. Institute of Electrical and Electronics Engineers Inc., Vol. 2015-November. p. 7764-7767 4 p. 7320192

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  16. Passive dynamics of high frequency bat wing flapping with an anisotropic membrane

    Zheng, M., Sadati, S. M. H., Ghalamchi, P. & Nanayakkara, T., 26 Mar 2015, 2014 7th International Conference on Information and Automation for Sustainability: "Sharpening the Future with Sustainable Technology", ICIAfS 2014. Institute of Electrical and Electronics Engineers Inc., p. 1-6 6 p. 7069582

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  17. A humanoid robot standing up through learning from demonstration using a multimodal reward function

    González-Fierro, M., Balaguer, C., Swann, N. & Nanayakkara, T., 3 Feb 2015, IEEE-RAS International Conference on Humanoid Robots. IEEE Computer Society Press, p. 74-79 6 p. 7029958

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  18. 2014
  19. Endoscopic add-on stiffness probe for real-time soft surface characterisation in MIS

    Faragasso, A., Stilli, A., Bimbo, J., Noh, Y., Liu, H., Nanayakkara, T., Dasgupta, P., Wurdemann, H. A. & Althoefer, K., 2 Nov 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014. Institute of Electrical and Electronics Engineers Inc., p. 6517-6520 4 p. 6945121

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  20. Bio-inspired tactile sensor sleeve for surgical soft manipulators

    Sareh, S., Jiang, A., Faragasso, A., Noh, Y., Nanayakkara, T., Dasgupta, P., Seneviratne, L. D., Wurdemann, H. A. & Althoefer, K., 22 Sep 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1454-1459 6 p. 6907043

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  21. Internal impedance control helps information gain in embodied perception

    Sornkarn, N., Howard, M. & Nanayakkara, T., 22 Sep 2014, Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE, p. 6685-6690 6 p. 6907846

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  22. Novel uniaxial force sensor based on visual information for minimally invasive surgery

    Faragasso, A., Bimbo, J., Noh, Y., Jiang, A., Sareh, S., Liu, H., Nanayakkara, T., Wurdemann, H. A. & Althoefer, K., 22 Sep 2014, Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 1405-1410 6 p. 6907036

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  23. The granular jamming integrated actuator

    Jiang, A., Adejokun, S., Faragasso, A., Althoefer, K., Nanayakkara, T. & Dasgupta, P., 2014, 2014 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2014. IEEE Computer Society Press, p. 12-17 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  24. 2013
  25. A Two Party Haptic Guidance Controller Via a Hard Rein

    Dissanayake Mudiyanselage, A., Penders, J., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 4 Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . Tokyo, Japan, p. 116 122 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  26. Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration

    Pereno, V., Shoar, K., Bartoli, G., Bianchi, F. & Nanayakkara, T., 4 Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 3126-3131 6 p. 6696800

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  27. Force-velocity modulation strategies for soft tissue examination

    Konstantinova, J., Li, M., Aminzadeh, V., Dasgupta, P., Althoefer, K. & Nanayakkara, T., Nov 2013, Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. Institute of Electrical and Electronics Engineers Inc., p. 1998-2003 6 p. 6696622

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  28. Skills Transfer across Dissimilar Robots by Learning Context-Dependent Rewards

    Malekzadeh, M. S., Bruno, D., Calinon, S., Nanayakkara, T. & G. Caldwell, D., Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). N/A ed. N/A: IEEE, Vol. N/A. p. 1746-1751 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  29. An optimal state dependent haptic guidance controller via a hard rein

    Ranasinghe, A., Althoefer, K., Nanayakkara, T., Penders, J. & Dasgupta, P., Oct 2013, Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. IEEE, p. 2322-2327 6 p. 6722150

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  30. Evaluating manual palpation trajectory patterns in tele-manipulation for soft tissue examination

    Konstantinova, J., Li, M., Aminzadeh, V., Althoefer, K., Nanayakkara, T. & Dasgupta, P., Oct 2013, Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013. IEEE, p. 4190-4195 6 p. 6722467

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  31. Prototyping the flexible solenoid-coil artificial muscle, for exoskeletal robots

    Takai, A., Alanizi, N., Kiguchi, K. & Nanayakkara, T., Oct 2013, International Conference on Control, Automation and Systems. IEEE, p. 1046-1051 6 p. 6704071

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  32. Granular jamming with hydraulic control

    Jiang, A., Aste, T., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 8 Aug 2013, Proceedings of the ASME Design Engineering Technical Conference. American Society of Mechanical Engineers, Vol. 6 A. 7 p. V06AT07A021

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  33. Granular Jamming Transitions for a Robotic Mechanism

    Jiang, A., Aste, T., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 2013, POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media. Yu, A., Dong, K., Yang, R. & Luding, S. (eds.). MELVILLE: Amer Inst Physics, p. 385-388 4 p. (AIP Conference Proceedings; vol. 1542).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  34. 2012
  35. Adaptive grip control on an uncertain object

    Jiang, A., Bimbo, J., Goulder, S., Liu, H., Song, X., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 7 Oct 2012, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012 . IEEE, p. 1161 - 1166 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  36. Adaptive internal impedance control for stable walking on uncertain visco-elastic terrain

    Bianchi, F., Bartoli, G., Shoar, K., Fernandez, M. R. A., Pereno, V., Zirjakova, J., Jiang, A. & Nanayakkara, T., 7 Oct 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). N/A ed. Piscataway: IEEE, Vol. N/A. p. 2465 - 2470 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  37. A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor

    Liu, H., Song, X., Nanayakkara, T., Seneviratne, L. D. & Althoefer, K., 2012, ICRA 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: St. Paul, Minnesota, USA, May 14-18 2012. Piscataway, N.J.: IEEE, p. 1410-1415 6 p. (IEEE International Conference on Robotics and Automation).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  38. Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane Coupling

    Jiang, A., Xynogalas, G., Dasgupta, P., Althoefer, K. & Nanayakkara, T., 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 2922-2927 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  39. Dominant Sources of Variability in Passive Walking

    Nanayakkara, T., Byl, K., Liu, H., Song, X. & Villabona, T., 2012, 2012 IEEE International Conference on Robotics and Automation (ICRA). New York: IEEE, p. 1003-1010 8 p. (IEEE International Conference on Robotics and Automation; vol. 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  40. Locomotion with Continuum Limbs

    Godage, I., Nanayakkara, T. & Caldwell, D. G., 2012, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. Piscataway, NJ: Institute of Electrical and Electronics Engineers ( IEEE ), p. 293-298 6 p. (IEEE International Conference on Intelligent Robots and Systems).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  41. 2010
  42. Miniaturized Triaxial Optical Fiber Force Sensor for MRI-Guided Minimally Invasive Surgery

    Puangmali, P., Dasgupta, P., Seneviratne, L. D. & Althoefer, K., 2010, Unknown. NEW YORK: IEEE, p. 2592 - 2597 6 p. (2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  43. 2009
  44. A Haptic Probe for Soft Tissue Abnormality Identification during Minimally Invasive Surgery

    Liu, H., Elhage, O., Dasgupta, P., Challacombe, B., Murphy, D., Seneviratne, L. & Althoefer, K., 2009, Reconfigurable mechanisms and robots: International conference, 2009. GENOVA: KC Edizioni, p. 436 - 441 6 p. (RECONFIGURABLE MECHANISMS AND ROBOTS).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  45. Analysis on Four Legged Multipurpose Rope Climbing Robot

    Hewapathirana, N. D., Uddawatta, L., Karunadasa, J. P. & Nanayakkara, T., 2009, 2009 INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS. NEW YORK: IEEE, p. 505-510 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  46. 2008
  47. Wheel/Tissue Force Interaction: A New Concept for Soft Tissue Diagnosis during MIS

    Zbyszewski, D., Liu, H., Puangmali, P., Althoefer, K., Nunes, C. S., Seneviratne, L. D., Challacombe, B., Murphy, D. & Dasgupta, P., 2008, Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE. NEW YORK: IEEE, p. 5556 - 5559 4 p. (2008 30TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-8).

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  48. 2007
  49. Dynamic power management of an embedded sensor network based on actor-critic reinforcement based learning

    Sridhar, P., Nanayakkara, T., Madni, A. M. & Jamshidi, M., 2007, 2007 THIRD INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION FOR SUSTAINABILITY. NEW YORK: IEEE, p. 71-76 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  50. High performance temperature controller for infant incubators

    De Silva, A., Jayathilake, M., Galgomuwa, A., Peiris, S., Udawatta, L. & Nanayakkara, T., 2007, 2006 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION. NEW YORK: IEEE, p. 115-120 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  51. Orchestration of advanced motor skills in a group of humans through an elitist visual feedback mechanism

    Nanayakkara, T., Piyathilaka, J. M. L. C. & Jamshidi, M., 2007, 2007 IEEE INTERNATIONAL CONFERENCE ON SYSTEM OF SYSTEMS ENGINEERING, VOLS 1 AND 2. NEW YORK: IEEE, p. 510-515 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  52. 2005
  53. Robotics, education, and sustainable development

    Dias, M. B., Mills-Tettey, G. A. & Nanayakkara, T., 2005, 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4. NEW YORK: IEEE, Vol. 2005. p. 4248-4253 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  54. 2000
  55. Controlling multi-link manipulators by fuzzy selection of dynamic models

    Nanayakkara, T., Watanabe, K., Kiguchi, H. & Izumi, K., 2000, IECON 2000: 26th Annual Conference of the IEEE Electronics Society. NEW YORK: IEEE, Vol. 1. p. 638-643 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  56. Evolutionary structured RBF neural network based control of a seven-link redundant manipulator

    Nanayakkara, T., Watanabe, K., Kiguchi, K. & Izumi, K., 2000, SICE 2000: PROCEEDINGS OF THE 39TH SICE ANNUAL CONFERENCE, INTERNATIONAL SESSION PAPERS. NEW YORK: IEEE, p. 148-153 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

  57. 1998
  58. Identification of system in a coal fired power plant to achieve desired compositions of fly-ash

    Nanayakkara, T., Nakamura, M., Nanayakkara, N., Furukawa, K. & Hatazaki, H., 1998, (SYSID'97): SYSTEM IDENTIFICATION, VOLS 1-3. Sawaragi, Y. & Sagara, S. (eds.). OXFORD: Pergamon Press Ltd, p. 1211-1216 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference paper

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