Publications

2017

Journal papers

  1. Jelizaveta Konstantinova, Giuseppe Cotugno, Prokar Dasgupta, Kaspar Althoefer, Thrishantha Nanayakkara, “Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs”, PLoS ONEPONE-D-16-31711R2 PDF

  2. S.M.Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara, “A Geometry Deformation Model for Braided Continuum Manipulators“, Frontiers in Robotics and AI, Soft Robotics section, 2017 PDF.
  3. Seyedmohammadhadi Sadati, Seyedeh Elnaz Naghibi, Ian Walker, Kaspar Althoefer, Thrishantha Nanayakkara, “Ritz and Ritz-Galerkin Solution for Control Space Reduction and Real-Time Dynamic Modeling of Continuum Manipulators”, accepted for publication in IEEE Robotics and Automation Letters.

2016

Journal papers

  1. Thrishantha Nanayakkara, Allen Jiang, María. R. Armas Fernández, Hongbin Liu, Kaspar Althoefer, Joao Bimbo, “Stable Grip Control on Soft Objects With Time Varying Stiffness”, IEEE Transactions on Robotics, vol. 32, no. 3, pp. 626-637, 2016. PDF video
  2. Giuseppe Cotugno, Kaspar Althoefer, Thrishantha Nanayakkara, “The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands”,  IEEE Transactions on SMC – Systems, pp. 1-10, vol. PP, no. 99, 2016. PDF
  3. Damith Suresh Chathuranga, Wang, Zhongkui; Noh, Yohan; Thrishantha Nanayakkara; Shinichi Hirai, “Magnetic and Mechanical Modeling of a Soft Three-Axis Force Sensor”, IEEE Sensors, pp.5298 – 5307, vol. 16, no. 13, 2016. PDF
  4. Sornkarn N, Dasgupta P, Nanayakkara T (2016) Morphological Computation of Haptic Perception of a Controllable Stiffness Probe. PLoS ONE 11(6): e0156982. doi:10.1371/journal.pone.0156982 PDF
  5. Isuri Wijesundera, Malka Halgamuge, Ampalavanapillai Nirmalathas, Thrishantha Nanayakkara, “MFPT Calculation for Random Walks in Inhomogeneous Networks”,  Physica A, 462, pp.986-1002, 2016. PDF
  6. Nantachai Sornkarn and Thrishantha Nanayakkara, “Can a soft robotic probe use stiffness control like a human finger to improve efficacy of haptic perception?”, in press, IEEE Transactions on Haptics, 2016. PDF

Peer reviewed international conference papers

  1. Nantachai Sornkarn and Thrishantha Nanayakkara “The Efficacy of Interaction Behavior and Internal Stiffness Control for Embodied Information Gain in Haptic Perception”, IEEE International Conference on Robotics and Automation (ICRA), pp. 26572662, DOI: 10.1109/ICRA.2016.74874252016. PDF
  2. Seyedmohammadhadi Sadati, Ali Shiva, Ahmad Ataka, Seyedeh Elnaz Naghibi, Ian Walker, Kaspar Althoefer, and Thrishantha Nanayakkara, “A Geometry Deformation Model for Compound Continuum Manipulators with External Loading”, IEEE International Conference on Robotics and Automation (ICRA), pp. 49574962, DOI: 10.1109/ICRA.2016.74877022016. PDF
  3. Jelizaveta Konstantinova, Giuseppe Cotugno, Prokar Dasgupta, Kaspar Althoefer, Thrishantha Nanayakkara, “Autonomous Robotic Palpation of Soft Tissue using the Modulation of Applied Force”, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2016), pp. 323328, DOI: 10.1109/BIOROB.2016.7523646June 26-29, 2016, Singapore. PDF
  4. Sara Adela Abad Guaman, Nantachai Sornkarn, Thrishantha Nanayakkara, “The role of morphological computation of the goat hoof in slip reduction”, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 55995605, DOI: 10.1109/IROS.2016.77598232016. PDF
  5. Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, Shinichi Hirai, “A Soft Three Axis Force Sensors that is Useful for Robot Grippers”, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 55565563, DOI: 10.1109/IROS.2016.77598172016. PDF
  6. Hasitha Wegiriya, Nantachai Sornkarn, Harry Bedford and Thrishantha Nanayakkara, “A Biologically Inspired Multimodal Whisker Follicle” 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC2016)PDF
  7.  Visakha Nanayakkara, Ahmad Ataka, Demetrios Venetsanos, Olga Duran, Nikolaos Vitzilaios, Thrishantha Nanayakkara, M. Necip Sahinkaya, “kinematic analysis of the human thumb with the foldable palm”, Towards Autonomous Robotic Systems (TAROS 2016), pp 226-238, DOI: 10.1007/978-3-319-40379-3_23 PDF

2015

Journal papers

  1. Anuradha Ranasinghe, Jacques Pendars, Prokar Dasguptha, Kaspar Althoefer, Thrishantha Nanayakkara, “Salient Features of Haptic Based Guidance of People with Limited Vision Using Hard Reins”, IEEE Transactions on SMC – Cybernetics, pp. 568579, DOI: 10.1109/TCYB.2015.24097722015. PDF
  2. Miguel González-Fierro, Daniel Hernández Garcia, Thrishantha Nanayakkara, Carlos Balaguer, “Behavior Sequencing Based on Demonstrations – a Case of a Humanoid Opening a Door While Walking” in press, Journal of Advanced Robotics, pp. 315-329, 2015. PDF
  3. Li, Min, Jelizaveta Konstantinova, Emanuele L. Secco, Allen Jiang, Hongbin Liu, Thrishantha Nanayakkara, Lakmal D. Seneviratne, Prokar Dasgupta, Kaspar Althoefer, and Helge A. Wurdemann. “Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue.” Medical & Biological Engineering & Computing, pp. 1177 – 1186, vol. 53, no. 11, 2015. PDF
  4. Li, Min, Shan Luo, Thrishantha Nanayakkara, Lakmal D. Seneviratne, Prokar Dasgupta, and Kaspar Althoefer. “Multi-fingered haptic palpation using pneumatic feedback actuators.” Sensors and Actuators A: Physical 218 (2014): 132-141. PDF
  5. Ranasinghe A, Dasgupta P, Althoefer K, Nanayakkara T (2015) Identification of Haptic Based Guiding Using Hard Reins. PLoS ONE 10(7): e0132020. doi:10.1371/journal.pone.0132020. PDF

Peer reviewed conference papers

  1. Maximiliano Francisco Escudero Morland, Kaspar Althoefer, and Thrishantha Nanayakkara, “Novel Method to Form Adaptive Internal Impedance Profiles in Walkers”, 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC-2015), Milano, Italy, pp.77647767, DOI: 10.1109/EMBC.2015.7320192, 2015PDF
  2. Sadati, SM Hadi, Yohan Noh, S. Elnaz Naghibi, Althoefer Kaspar, and Thrishantha Nanayakkara. “Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming.” In Intelligent Robotics and Applications, pp. 141-151. Springer International Publishing, pp. 141 – 151, 2015. PDF
  3. Chathuranga, Damith Suresh, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai. “Disposable Soft 3 Axis Force Sensor for Biomedical Applications.” In The 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), pp. 55215524, DOI: 10.1109/EMBC.2015.73196422015. PDF
  4. Damith Suresh Chaturanga, Zhongkuti Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, “Robust real Time Material Classification Algorithm using Soft Three Axis Tactile Sensor: Evaluation of the Algorithm”, pp.20932098, DOI: 10.1109/IROS.2015.7353655, IROS 2015. PDF

2014

Journal papers

  1.  J. Konstantinova, M. Li, M. Gautam, P. Dasgupta, K. Althoefer and T. Nanayakkara. “Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues”,  IEEE Transactions on Biomedical Engineering, pp. 16511659, vol. 16, no. 6, DOI: 10.1109/TBME.2013.22968772014. PDF
  2. Song, Xiaojing, Hongbin Liu, Kaspar Althoefer, Thrishantha Nanayakkara, and Lakmal D. Seneviratne. “Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration.” IEEE Transactions on Robotics, vol. 30, no. 1, 203219, DOI: 10.1109/TRO.2013.22796302014. PDF
  3. Calinon, Sylvain, Danilo Bruno, Milad S. Malekzadeh, Thrishantha Nanayakkara, and Darwin G. Caldwell. “Human–robot skills transfer interfaces for a flexible surgical robot.” Computer methods and programs in biomedicine, pp. 81 – 96, vol. 116, no. 22014. PDF
  4. J. Konstantinova, A. Jiang, K. Althoefer P. Dasgupta, and T. Nanayakkara. “Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery”, IEEE Sensors Journal, pp.24902501, vol. 14, no. 8, DOI: 10.1109/JSEN.2014.23257942014. PDF
  5. Li, Min, Shan Luo, Thrishantha Nanayakkara, Lakmal D. Seneviratne, Prokar Dasgupta, and Kaspar Althoefer. “Multi-Fingered Haptic Palpation using Pneumatic Feedback Actuators.” Sensors and Actuators A: Physical, pp. 132 – 141, vol. 218, no. 1, 2014. PDF
  6. Jiang, Allen, Tommaso Ranzani, Giada Gerboni, Laura Lekstutyte, Kaspar Althoefer, Prokar Dasgupta, and Thrishantha Nanayakkara. “Robotic Granular Jamming: Does the Membrane Matter?.” Soft Robotics, 1(3): pp. 192-201. doi:10.1089/soro.2014.0002, 2014. PDF
  7. M.G.Fierro, C.Balaguer, T.Nanayakkara. “Full-Body Postural Control of a Humanoid Robot with Both Imitation Learning and Skill Innovation”. International Journal of Humanoid Robotics, vol. 11, no. 22014. PDF
  8. M. Cianchetti and T. Ranzani, G. Gerboni, T. Nanayakkara, K. Althoefer, P. Dasgupta, A. Menciassi, “Soft robotics technologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach”, Soft Robotics (SoRo), pp.122-131, vol. 1, no. 2, doi:10.1089/soro.2014.0001, 2014. PDF
  9. D. Ognibene and G. Baldassarre. Ecological Active Vision: Four Bio-Inspired Principles to Integrate Bottom-Up and Adaptive Top-Down Attention Tested With a Simple Camera-Arm Robot. IEEE Transactions on Autonomous Mental Development, 2014 PDF

Peer Reviewed Conference Papers

  1. Nantachai Sornkarn, Matthew Howard,Thrishantha Nanayakkara, “Internal Impedance Control Helps Information Gain in Embodied Perception”, in IEEE International Conference on Robotics and Automation (ICRA), pp.66856690, DOI: 10.1109/ICRA.2014.6907846, 2014. PDF
  2. Giuseppe Cotugno, Vishwanathan Mohan, Kaspar Althoefer, Thrishantha Nanayakkara, “Simplifying Grasping Complexity through Generalization of Kinaesthetically Learned Synergies”, in IEEE International Conference on Robotics and Automation (ICRA), pp.53455351, DOI: 10.1109/ICRA.2014.69076452014. PDF
  3. Sina Sareh, Allen Jiang, Angela Faragasso, Yohan Noh, Thrishantha Nanayakkara, Prokar Dasgupta, Lakmal Seneviratne, Helge Arne Wurdemann, Kaspar Althoefer , “Bio-Inspired Tactile Sensor Sleeve for Surgical Soft Manipulators”, in IEEE International Conference on Robotics and Automation (ICRA), pp.14541459, DOI: 10.1109/ICRA.2014.69070432014. PDF
  4. Angela Faragasso, Joao Bimbo, Yohan Noh, Allen Jiang, Sina Sareh, Hongbin Liu, Thrishantha Nanayakkara, Helge Arne Wurdemann, Kaspar Althoefer, “Novel Uniaxial Force Sensor Based on Visual Information for Minimally Invasive Surgery”, in IEEE International Conference on Robotics and Automation (ICRA), pp.14051410, DOI: 10.1109/ICRA.2014.69070362014. PDF
  5. E. Nivel, K. R Thórisson, B. R Steunebrink, H. Dindo, G. Pezzulo, M. Rodriguez, C. Hernandez, D. Ognibene, J. Schmidhuber, R. Sanz, H. P Helgason, A. Chella, G. K Jonsson. AUTONOMOUS ACQUISITION OF NATURAL LANGUAGE, in IADIS International Conference on Intelligent Systems & Agents, 2014. BEST PAPER AWARD. PDF
  6. E. Nivel, K. R Thórisson, B. R Steunebrink, H. Dindo, G. Pezzulo, M. Rodriguez, C. Hernandez, D. Ognibene, J. Schmidhuber, R. Sanz, H. P Helgason, A. Chella. Bounded Seed-AGI, in AGI, 2014. PDF

2013

Journal papers

  1. Taylor, John G., Vassilis Cutsuridis, Matthew Hartley, Kaspar Althoefer, and Thrishantha Nanayakkara. “Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics.” Cognitive Computation, pp. 340 – 354, vol. 5, no. 32013. PDF
  2. Wijesundera, Isuri, Malka N. Halgamuge, Thas Nirmalathas, and Thrishantha Nanayakkara. “A Geographic Primitive-Based Bayesian Framework to Predict Cyclone-Induced Flooding.” Journal of Hydrometeorology,  2013. PDF
  3. Lalitharatne, Thilina Dulantha, Kenbu Teramoto, Yoshiaki Hayashi, Thrishantha Nanayakkara, and Kazuo Kiguchi. “Evaluation of Fuzzy-Neuro Modifiers for Compensation of the Effects of Muscle Fatigue on EMG-Based Control to be Used in Upper-Limb Power-Assist Exoskeletons.” Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2013. PDF

Peer Reviewed Conference Papers

  1. Anuradha Ranasinghe, Prokar Dasgupta, Jaques Penders, Kaspar Althoefer, Thrishantha Nanayakkara, “A Two Party Haptic Guidance Controller Via a Hard Rein”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013, Tokyo,  Japan,  pp.116122, DOI: 10.1109/IROS.2013.6696341,  2013. PDF
  2. J. Konstantinova, M. Li, V. Aminzadeh, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Force-Velocity Modulation Strategies for Soft Tissue Examination”, in 2013 IEEE International conference on intelligent Robots and systems (IROS), pp.19982003, DOI: 10.1109/IROS.2013.6696622, 2013. PDF
  3. Malekzadeh, Milad S., Danilo Bruno, Sylvain Calinon, Thrishantha Nanayakkara, and Darwin G. Caldwell. “Skills transfer across dissimilar robots by learning context-dependent rewards.” In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp.17461751, DOI: 10.1109/IROS.2013.6696585, 2013. PDF
  4. Pereno, Valerio, Kya Shoar, Giulia Bartoli, Fabio Bianchi, and Thrishantha Nanayakkara. “Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration.” In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp.31263131, DOI: 10.1109/IROS.2013.6696800, IEEE, 2013. PDF
  5. Miguel González-Fierro, Carlos Balaguer, Nicola Swann, Thrishantha Nanayakkara, “A Humanoid Robot Standing Up Through Learning from Demonstration Using a Multimodal Reward Function”, IEEE-RAS International Conference on Humanoid Robots, pp. 7479, DOI: 10.1109/HUMANOIDS.2013.70299582013. PDF
  6. Anuradha Ranasinghe, Prokar Dasgupta, Jaques Penders, Kaspar Althoefer, Thrishantha Nanayakkara, “An Optimal State Dependent Haptic Guidance Controller Via a Hard Rein”, in 2013 IEEE International Conference on system, man, cybernetics (SMC), Manchaster, UK,  pp. 23222327, DOI: 10.1109/SMC.2013.397,  (Finalist for the best student paper and IEEE Franklyn V. Taylor memorial award) 2013. PDF
  7. J. Konstantinova, M. Li, V. Aminzadeh, K. Althoefer, P. Dasgupta, and T. Nanayakkara, “Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue Examination” in IEEE Systems Men and Cybernetics (SMC), pp.41904195, DOI: 10.1109/SMC.2013.714, 2013. PDF
  8. Asuka Takai,  Nouf Alanizi, Kazuo Kiguchi, and Thrishantha Nanayakkara. “Prototyping the flexible solenoid-coil artificial muscle, for exoskeletal robots.” In Control, Automation and Systems (ICCAS), 2013 13th International Conference on, pp.10461051, DOI: 10.1109/ICCAS.2013.6704071, 2013. PDF

2012

Peer Reviewed Conference Papers

  1. Thrishantha Nanayakkara, Katie Byl, Hongbin Liu, Xiaojing Song, and Tim Villabona. “Dominant sources of variability in passive walking.” In IEEE International Conference on Robotics and Automation (ICRA), 2012 , pp.10031010, DOI: 10.1109/ICRA.2012.6224839, 2012. PDF
  2. 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), pp.29222927, DOI: 10.1109/IROS.2012.6385696, Vilamoura, Portugal, 2012. PDF
  3. 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), pp. 11611166, DOI: 10.1109/IROS.2012.6385922, Vilamoura, Portugal, 2012. PDF
  4. Bianchi, Fabio, Giulia Bartoli, Kya Shoar, M. R. Armas Fernandez, Valerio Pereno, Jelizaveta Zirjakova, Allen Jiang, and Thrishantha Nanayakkara. “Adaptive internal impedance control for stable walking on uncertain visco-elastic terrains.” In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp.24652470, DOI: 10.1109/IROS.2012.6385905, 2012. PDF
  5. Godage, Isuru S., Thrishantha Nanayakkara, and Darwin G. Caldwell. “Locomotion with continuum limbs.” In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp.293298, DOI: 10.1109/IROS.2012.6385810, 2012. PDF
  6. 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), pp. 267-275, Chicago, IL, USA, 2012. PDF
  7. Masinghe, Waruna, Gordana Collier, Andrzej Ordys, and Thrishantha Nanayakkara. “A novel approach to determine the inverse kinematics of a human upper limb model with 9 degrees of freedom.” In Biomedical Engineering and Sciences (IECBES), 2012 IEEE EMBS Conference on, pp.525530, DOI: 10.1109/IECBES.2012.6498074, 2012. PDF
  8. 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, pp.37113714, DOI: 10.1109/EMBC.2014.69444292012. PDF

Selected older publications

  1. Thrishantha Nanayakkara, Kazuo Kiguchi, Tsukasa Murakami, Keigo Watanabe, and Kiyotaka Izumi, “Enhancing the autonomy of tele operated redundant manipulators through fusion of intelligent control modules”, Journal of Robotics and Mechatronics, vol. 14, no. 3, pp. 278 – 288, 2002. PDF
  2. Ariff, Gregory, Opher Donchin, Thrishantha Nanayakkara, and Reza Shadmehr. “A real-time state predictor in motor control: study of saccadic eye movements during unseen reaching movements.” The Journal of Neuroscience 22, no. 17 (2002): 7721-7729. PDF
  3. Thrishantha Nanayakkara and Reza Shadmehr, “Saccade Adaptation in Response to Altered Arm Dynamics“, 
  4. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, “Evolutionary learning of a fuzzy behavior based controller for a nonholonomic mobile robot in a class of dynamic environments”, pp. 255-277, vol. 32, no. 3, 2001. PDF
  5. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, “Fuzzy self-adaptive radial basis function neural network-based control of a seven-link redundant industrial manipulator”, pp. 17-43, vol. 15, no. 1, 2001, PDF

More in Google scholar