Research Publications Authored by SLIIT Staff

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This collection includes all SLIIT staff publications presented at external conferences and published in external journals. The materials are organized by faculty to facilitate easy retrieval.

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Author: search.filters.author.Gunasekara, J. M. P

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    Redundant upper limb exoskeleton robot with passive compliance
    (IEEE, 2014-12-22) Gunasekara, J. M. P; Gopura, R. A. R. C; Jayawardena, T. S. S
    Enhancing physical Human-Robot Interaction (pHRI) is an important design aspect in upper limb exoskeleton robots. The level of manipulation provided by an exoskeleton robot has a significant effect to perform daily tasks. This paper evaluate performance of a 6 degree of freedom (DoF) upper limb exoskeleton robot. The detailed mechanical design of the robot is presented with the novel features included in order to improve the pHRL The exoskeleton robot consists of six DoF and two flexible bellow couplings are used to provide translational DoF at wrist and elbow joints. Moreover, flexible bellow couplings are positioned at specific locations in order to enhance the kinematic redundancy. The benefit of compliance due to the flexible bellow coupling at wrist joint of the robot is verified with reference to manipulability variation of the kinematic model of human lower arm.
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    Control methodologies for upper limb exoskeleton robots
    (IEEE, 2012-12-16) Gunasekara, J. M. P; Gopura, R. A. R. C; Jayawardena, T. S. S; Lalitharathne, S. W. H. M. T. D
    An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews control methodologies used in upper limb exoskeleton robots. In the review, the control methods used in the exoskeleton robots are classified into three categories: control system based on human biological signal, nonbiological signal and platform independent control system. Different types of control methods under each category are compared and reviewed.