Dr Thilina Dulantha Lalitharatne
Lecturer in Robotics and Mechatronics
School of Engineering and Materials Science
Queen Mary University of London
Queen Mary University of London
Research
Human-Robot Interaction (HRI), Social Robotics, Medical Robotics, Brain-Computer Interface (BCI), Soft Robotics, Bio-Inspired Robotics
Interests
My research interests lie at the intersection of mutlimodal human-robot interaction (HRI), social and medical robotics, brain-computer Interfaces (BCI) and soft robotics. One of the long-term goals of my research is to address the social interactions problem (one of the ten grand challenges in robotics) in robots and to develop robots which can co-exist with humans while maintaining long term interactions. I am also interested in utilizing BCIs to enhance the interactions between humans and robots, including controlling robots using BCIs. Additionally, my research will explore soft and bio-inspired robotic approaches to create smarter and safer robots capable of coexisting with humans.Publications
Publications of specific relevance to the Centre for Bioengineering2024
Medagedara MH, Ranasinghe A, Lalitharatne TD, Gopura RARC and Nandasiri GK (2024). Advancements in Textile-Based sEMG Sensors for Muscle Fatigue Detection: A Journey from Material Evolution to Technological Integration. ACS Sensors, American Chemical Society (ACS) vol. 9 (9), 4380-4401. 06-09-2024
Kodagoda G, Perera GASU, Lakshitha MGD, Senadhilankara KDP, Kularathna AHTS and Lalitharatne TD (2024). Field-Tested Drone Spraying System for Precision Agricultural Applications in Sri Lanka: A Case Study in Paddy Fields. 2024 Moratuwa Engineering Research Conference (MERCon). 10-08-2024
Widanage KND, De Silva MJ, Lalitharatne TD, Bull AMJ and Gopura RARC (2024). Corrigendum to “Developments in circular external fixators: A review” [Injury, Volume 54 Issue 12 (2023), 111157]. Injury, Elsevier vol. 55 (3) 23-01-2024
2023
Widanage KND, De Silva MJ, Lalitharatne TD, Bull AMJ and Gopura RARC (2023). Developments in circular external fixators: A review. Injury, Elsevier vol. 54 (12) 26-10-2023
Protpagorn N, Lalitharatne TD, Costi L and Iida F (2023). Vocal pain expression augmentation for a robopatient. Frontiers in Robotics and AI, Frontiers vol. 10 13-09-2023
Gopura RARC, Lalitharatne TD and Zhang D (2023). Editorial: EMG/EEG signals-based control of assistive and rehabilitation robots, volume II. Frontiers in Neurorobotics, Frontiers vol. 17 31-08-2023
Dasanayake NP, Gopura RARC, Ranaweera RKPS and Lalitharatne TD (2023). An EMG-based Spatio-spectro-temporal Index for Muscle Fatigue Quantification. 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). 31-08-2023
Mulvey BW, Lalitharatne TD and Nanayakkara T (2023). DeforMoBot: A Bio-Inspired Deformable Mobile Robot for Navigation Among Obstacles. IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 8 (6), 3827-3834. 05-05-2023
He L, Maiolino P, Leong F, Lalitharatne TD, de Lusignan S, Ghajari M, Iida F and Nanayakkara T (2023). Robotic Simulators for Tissue Examination Training With Multimodal Sensory Feedback. IEEE Reviews in Biomedical Engineering, Institute of Electrical and Electronics Engineers (IEEE) vol. 16, 514-529. 01-01-2023
2022
Protpagorn N, Costi L, Lalitharatne TD, Nisky I and Iida F (2022). Vocal Pain Expression Augmentation to Improve Interaction Accuracy in Virtual Robopatient. 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). 24-08-2022
Costi L, Lalitharatne TD and Iida F (2022). Soft Control Interface for Highly Dexterous Unilateral Remote Palpation. 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). 24-08-2022
Lalitharatne TD, Costi L, Hashem R, Nisky I, Jack RE, Nanayakkara T and Iida F (2022). Face mediated human–robot interaction for remote medical examination. Scientific Reports, Springer Nature vol. 12 (1) 22-07-2022
Tan Y, Rérolle S, Lalitharatne TD, van Zalk N, Jack RE and Nanayakkara T (2022). Simulating dynamic facial expressions of pain from visuo-haptic interactions with a robotic patient. Scientific Reports, Springer Nature vol. 12 (1) 10-03-2022
Ge Y, Lalitharatne TD and Nanayakkara T (2022). Origami Inspired Design for Capsule Endoscope to Retrograde Using Intestinal Peristalsis. IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 7 (2), 5429-5435. 08-03-2022
2021
Kulasekera AL, Arumathanthri RB, Chathuranga DS, Gopura RARC and Lalitharatne TD (2021). A thin-walled vacuum actuator (ThinVAc) and the development of multi-filament actuators for soft robotic applications. Sensors and Actuators A Physical, Elsevier vol. 332 01-12-2021
Kondarage AI, Poologasundarampillai G, Nommeots‐Nomm A, Lee PD, Lalitharatne TD, Nanayakkara ND, Jones JR and Karunaratne A (2021). In situ 4D tomography image analysis framework to follow sintering within 3D‐printed glass scaffolds. Journal of the American Ceramic Society, Wiley vol. 105 (3), 1671-1684. 03-11-2021
Pradeepkumar J, Anandakumar M, Kugathasan V, Lalitharatne TD, De Silva AC and Kappel SL (2021). Decoding of Hand Gestures from Electrocorticography with LSTM Based Deep Neural Network. 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). 01-11-2021
Kondarage AI, Gayani B, Poologasundarampillai G, Nommeots-Nomm A, Lee PD, Lalitharatne TD, Nanayakkara ND, Jones JR and Karunaratne A (2021). Detection and Tracking Volumes of Interest in 3D Printed Tissue Engineering Scaffolds using 4D Imaging Modalities. 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). 01-11-2021
Costi L, Scimeca L, Maiolino P, Lalitharatne TD, Nanayakkara T, Hashem R and Iida F (2021). Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile Sensing. Frontiers in Robotics and AI, Frontiers vol. 8 27-09-2021
Phillips JP, Pirrung CJ, Weerasinghe I, Kanishka GK, Satharasinghe Y, Lalitharatne TD, Cavanagh JF, Kodituwakku P and Wanigasinghe J (2021). Portable Acquisition of Auditory ERPs: A Pilot Study of Premature Infants. Pediatric Neurology, Elsevier vol. 122, 84-88. 12-06-2021
He L, Leong F, Lalitharatne TD, de Lusignan S and Nanayakkara T (2021). A Haptic Mouse Design with Stiffening Muscle Layer for Simulating Guarding in Abdominal Palpation Training. 2021 IEEE International Conference on Robotics and Automation (ICRA). 05-06-2021
Lalitharatne TD, Tan Y, He L, Leong F, Van Zalk N, de Lusignan S, Iida F and Nanayakkara T (2021). MorphFace: A Hybrid Morphable Face for a Robopatient. IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 6 (2), 643-650. 01-01-2021
Kulasekera AL, Arumathanthri RB, Chathuranga DS, Gopura RARC and Lalitharatne TD (2021). A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit. IEEE Access, Institute of Electrical and Electronics Engineers (IEEE) vol. 9, 117067-117079. 01-01-2021
2020
Naim AM, Wickramasinghe K, De Silva A, Perera MV, Lalitharatne TD and Kappel SL (2020). Low-cost Active Dry-Contact Surface EMG Sensor for Bionic Arms. 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC). 14-10-2020
Thamel SR, Munasinghe R and Lalitharatne T (2020). Motion Planning of Novel Stair-Climbing Wheelchair for Elderly and Disabled People. 2020 Moratuwa Engineering Research Conference (MERCon). 30-07-2020
Kulasekera AL, Arumathanthri RB, Chathuranga DS, Lalitharatne TD and Gopura RC (2020). A Low-Profile Vacuum Actuator: Towards a Sit-to-Stand Assist Exosuit. 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). 15-07-2020
De Silva A, Perera MV, Wickramasinghe K, Naim AM, Lalitharatne TD and Kappel SL (2020). Real-Time Hand Gesture Recognition Using Temporal Muscle Activation Maps of Multi-Channel Semg Signals. ICASSP 2020 - 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). 08-05-2020
Lalitharatne TD, Tan Y, Leong F, He L, Van Zalk N, De Lusignan S, Iida F and Nanayakkara T (2020). Facial Expression Rendering in Medical Training Simulators: Current Status and Future Directions. IEEE Access, Institute of Electrical and Electronics Engineers (IEEE) vol. 8, 215874-215891. 01-01-2020
2019
Mallikarachchi S, Chinthaka D, Sandaruwan J, Ruhunage I and Lalitharatne TD (2019). Motor Imagery EEG-EOG Signals based Brain Machine Interface (BMI) for a Mobile Robotic Assistant (MRA). 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE). 30-10-2019
Jayarathne DU, Vidumal HAKR, Senevirathne SMA, Jayasekara PG and Lalitharatne TD (2019). Vision-based Leader-Follower Mobile Robots for Cooperative Object Handling. 2019 19th International Conference on Control, Automation and Systems (ICCAS). 15-10-2019
Wijayathunga N, Lalitharatne TD, Chathuranga DS and Jayasekara B (2019). Development of a Robotic Manipulator to be used in Multirotor Aerial Vehicle. 2019 Moratuwa Engineering Research Conference (MERCon). 05-07-2019
Premarathna C, Kulasekera A, Chathuranga D and Lalitharatne T (2019). Development of Wearable Fingertip Tactile Display Driven by Bowden Cables. 2019 Moratuwa Engineering Research Conference (MERCon). 05-07-2019
Premarathna C, Kulasekera A, Chathuranga D and Lalitharatne T (2019). A Novel Fabrication Method for Rapid Prototyping of Soft Structures with Embedded Pneumatic Channels. 2019 Moratuwa Engineering Research Conference (MERCon). 05-07-2019
Ruhunage I, Mallikarachchi S, Chinthaka D, Sandaruwan J and Lalitharatne TD (2019). Hybrid EEG-EMG Signals Based Approach for Control of Hand Motions of a Transhumeral Prosthesis. 2019 IEEE 1st Global Conference on Life Sciences and Technologies (LifeTech). 12-03-2019
2018
Sandakalum T, Suraji S, Weerasekara I, Lalitharatne T and Chathuranga D (2018). Design and Characterization of a 1-axis Compact Torque Sensor for a Collaborative Robot Arm. 2018 IEEE International Conference on Information and Automation for Sustainability (ICIAfS). 21-12-2018
Premarathna CP, Ruhunage I, Chathuranga DS and Lalitharatne TD (2018). Haptic Feedback System for an Artificial Prosthetic Hand for Object Grasping and Slip Detection: A Preliminary Study. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). 12-12-2018
Ruhunage I, Perera CJ, Munasinghe I and Lalitharatne TD (2018). EEG-SSVEP based Brain Machine Interface for Controlling of a Wheelchair and Home Appliances with Bluetooth Localization System. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). 12-12-2018
Arumathanthri RB, Abeygoonawardana BSK, Kumarasinghe IDCD, Chathuranga DS, Lalitharatne TD and Kulasekera AL (2018). A Soft Robotic Gripper with Sensory Feedback Fabricated by Latex using Coagulant Dipping Process. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). 12-12-2018
Athukorala A, Ranasinghe N, Herath K, Jayasekara P and Lalitharatne TD (2018). Scalable Autonomous Agronomical Smartbot. 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA). 04-07-2018
H. MCMH, R. ARCG and Thilina DL (2018). An Underactuated Linkage Finger Mechanism for Hand Prostheses. Modern Mechanical Engineering, Scientific Research Publishing vol. 08 (02), 121-139. 01-01-2018
2017
Herath HMCM, Gopura RARC and Lalitharatne TD (2017). Prosthetic Hand with a Linkage Finger Mechanism for Power Grasping Applications. 2017 IEEE Life Sciences Conference (LSC). 01-12-2017
Premarathna CP, Chathuranga DS and Lalitharatne TD (2017). Fabrication of a Soft Tactile Display Based on Pneumatic Balloon Actuators and Voice Coils: Evaluation of Force and Vibration Sensations. 2017 IEEE/SICE International Symposium on System Integration (SII). 01-12-2017
Ruhunage I, Perera CJ, Nisal K, Subodha J and Lalitharatne TD (2017). EMG Signal Controlled Transhumeral Prosthetic with EEG-SSVEP Based Approch for Hand Open/Close. 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC). 01-10-2017
Herath HMCWB, Herath HMS, Sumangala SW, de Silva O, Chathuranga D and Lalitharatne TD (2017). Design and Development of an Automated Battery Swapping and Charging Station for Multirotor Aerial Vehicles. 2017 17th International Conference on Control, Automation and Systems (ICCAS). 01-10-2017
Atapattu SH, Senevirathna NM, Shan HLU, Madusanka TBT, Lalitharatne TD and Chathuranga DS (2017). Design and Development of a Wearable Haptic Feedback Device to Recognize Textured Surfaces: Preliminary Study. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). 01-07-2017
Nisal K, Ruhunge I, Subodha J, Perera CJ and Lalitharatne TD (2017). Design, Implementation and Performance Validation of UOMPro Artificial Hand: Towards Affordable Hand Prostheses**This research is partially supported by the University of Moratuwa final year project research grant scheme. 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 01-07-2017
Perera CJ, Lalitharatne TD and Kiguchi K (2017). EEG-Controlled Meal Assistance Robot with Camera-Based Automatic Mouth Position Tracking and Mouth Open Detection. 2017 IEEE International Conference on Robotics and Automation (ICRA). 01-05-2017
Weerakkody TH, Lalitharatne TD and Gopura RARC (2017). Adaptive Foot in Lower‐Limb Prostheses. Journal of Robotics, Hindawi vol. 2017 (1), 1-15. 01-01-2017
Weerakkody TH, Lalitharatne TD, Gopura RARC, Liyanaarachchi N and Herath C (2017). Development of an Active Shoulder Prosthesis with Low-Level Control Validation. Modelling, Identification and Control. 01-01-2017
2016
Perera CJ, Naotunna I, Sadaruwan C, Gopura RARC and Lalitharatne TD (2016). SSVEP Based BMI for a Meal Assistance Robot. 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC). 01-10-2016
Abeysinghe A, Abeysiriwardena S, Nanayakkarawasam R, Wimalsiri W, Lalitharatne TD and Tennakoon S (2016). Development of A Numerically Controlled Hot Wire Foam Cutting Machine for Wing Mould Construction. 2016 Moratuwa Engineering Research Conference (MERCon). 01-04-2016
Perera CJ, Naotunna I, Sandaruwan C, Kelly-Boxall NJ, Gopura RARC and Lalitharatne TD (2016). Electrooculography Signal based Control of a Meal Assistance Robot. Biomedical Engineering. 01-01-2016
2015
Naotunna I, Perera CJ, Sandaruwan C, Gopura RARC and Lalitharatne TD (2015). Meal Assistance Robots: A Review on Current Status, Challenges and Future Directions. 2015 IEEE/SICE International Symposium on System Integration (SII). 01-12-2015
2014
Lalitharatne TD, Teramoto K, Hayashi Y, Tamura K and Kiguchi K (2014). EEG-based evaluation for perception-assist in upper-limb power-assist exoskeletons. 2014 World Automation Congress (WAC). 01-08-2014
Lalitharatne TD, Teramoto K, Hayashi Y and Kiguchi K (2014). Evaluation of Perception-Assist with an Upper-Limb Power-Assist Exoskeleton using EMG and EEG Signals. Proceedings of the 11th IEEE International Conference on Networking, Sensing and Control. 01-04-2014
2013
Lalitharatne TD, Teramoto K, Hayashi Y and Kiguchi K (2013). Towards Hybrid EEG-EMG-Based Control Approaches to be Used in Bio-robotics Applications: Current Status, Challenges and Future Directions. Paladyn Journal of Behavioral Robotics, De Gruyter vol. 4 (2), 147-154. 01-12-2013
KIGUCHI K, LALITHARATNE TD and HAYASHI Y (2013). Estimation of Forearm Supination/Pronation Motion Based on EEG Signals to Control an Artificial Arm. Journal of Advanced Mechanical Design Systems and Manufacturing, Japan Society of Mechanical Engineers vol. 7 (1) 01-01-2013
LALITHARATNE TD, TERAMOTO K, HAYASHI Y, NANAYAKKARA T and KIGUCHI K (2013). 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, Japan Society of Mechanical Engineers vol. 7 (4) 01-01-2013
Lalitharatne TD, Hayashi Y, Teramoto K and Kiguchi K (2013). Compensation of the Effects of Muscle Fatigue on EMG-Based Control using Fuzzy Rules Based Scheme*The part of this work was supported by Japan Society of Promotion of Science (JSPS) Grant-in-Aid for Science Research (C) 23560293. 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 01-01-2013
2012
Gunasekara JMP, Gopura RARC, Jayawardane TSS and Lalitharathne SWHMTD (2012). Control Methodologies for Upper Limb Exoskeleton Robots. 2012 IEEE/SICE International Symposium on System Integration (SII). 01-12-2012
Lalitharatne TD, Hayashi Y, Teramoto K and Kiguchi K (2012). A Study on Effects of Muscle Fatigue on EMG-Based Control for Human Upper-Limb Power-Assist. 2012 IEEE 6th International Conference on Information and Automation for Sustainability. 01-09-2012
Lalitharatne TD, Yoshino A, Hayashi Y, Teramoto K and Kiguchi K (2012). Toward EEG Control of Upper Limb Power-Assist Exoskeletons: A Preliminary Study of Decoding Elbow Joint Velocities Using EEG Signals. 2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS). 01-04-2012