Journal papers

  1. Nicolas Herzig, Perla Maiolino, Fumiya Iida, Thrishantha Nanayakkara, “A Variable Stiffness Robotic Probe for Soft Tissue Palpation”, IEEE Robotics and Automation Letters (RA-L), pp. 1168 – 1175, vol. 3, issue 2, 2018. PDF
  2. Seyedmohammadhadi Sadati, Luis Sullivan, Ian Walker, Kaspar Althoefer, Thrishantha Nanayakkara “3D-Printable Thermoactive Helical Interface with Decentralized Morphological Stiffness Control for Continuum Manipulators”, IEEE Robotics and Automation Letters (RA-L), vol. 3, no. 3, pp.2283 – 2290, 2018. PDF
  3. Ranasinghe, A., Dasgupta, P., Nagar, A., & Nanayakkara, T. (2018). Human Behavioral Metrics of a Predictive Model Emerging During Robot-Assisted Following Without Visual Feedback. IEEE Robotics and Automation Letters3(3), pp. 2624-2631. PDF
  4. A. Shiva, S.M.H. Sadati, Y. Noh, J. Fraś, A. Ataka, H. Wurdemann, H. Hauser, I. Walker, T. Nanayakkara2, K. Althoefer, “Elasticity vs. Hyperelasticity Considerations in Quasi-Static Modelling of a Soft Finger-like Robotic Appendage for Real-time Position & Force Estimation”, accepted in Soft Robotics, 2018.
  5. Isuri Wijesundera, Malka Halgamuge, Ampalavanapillai Nirmalathas, Thrishantha Nanayakkara, “Predicting the Mean First Passage Time (MFPT) to reach any state for a passive dynamic walker with steady-state variability”, PLoS ONE 13(11): e0207665, 2018. PDF
  6. Cotugno G, Konstantinova J, Althoefer K, Nanayakkara T (2018) Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands. PLoS ONE 13(12): e0208228. https://doi.org/10.1371/journal.pone.0208228. PDF

Conference papers

  1. Seyedmohammadhadi Sadati, Luis Sullivan, Ian Walker, Kaspar Althoefer, Thrishantha Nanayakkara “3D-Printable Thermoactive Helical Interface with Decentralized Morphological Stiffness Control for Continuum Manipulators”, ICRA2018 PDF
  2. Sadati, S. H., Naghibi, S. E., Althoefer, K., & Nanayakkara, T. (2018, April). Toward a low hysteresis helical scale Jamming interface inspired by teleost fish scale morphology and arrangement. In 2018 IEEE International Conference on Soft Robotics (RoboSoft) (pp. 455-460). IEEE. (first IEEE International Conference on Soft Robotics) PDF
  3. He, L., Herzig, N., de Lusignan, S., & Nanayakkara, T. (2018, July). Granular Jamming Based Controllable Organ Design for Abdominal Palpation. In 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 2154-2157). IEEE. PDF
  4. Ashraf Weheliye, Prokar Dasgupta, Thrishantha Nanayakkara, “Haptic Information Gain in Remote Soft Tissue Examination Using a Controllable Stiffness Robotic Probe”, accepted in IEEE International Conference on Information and Automation for Sustainability (ICIAfS), 2018.
 

Contact the PI

Professor Thrishantha Nanayakkara
RCS1 M229, Dyson Building
25 Exhibition Road
South Kensington, SW7 2DB

Email: t.nanayakkara@imperial.ac.uk