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
Advancements in Textile-Based sEMG Sensors for Muscle Fatigue Detection: A Journey from Material Evolution to Technological IntegrationMedagedara MH, Ranasinghe A, Lalitharatne TD, Gopura RARC and Nandasiri GK
Acs Sensors, American Chemical Society (Acs) vol. 9 (9), 4380-4401.
06-09-2024
Field-Tested Drone Spraying System for Precision Agricultural Applications in Sri Lanka: A Case Study in Paddy FieldsKodagoda G, Perera GASU, Lakshitha MGD, Senadhilankara KDP, Kularathna AHTS and Lalitharatne TD
2024 Moratuwa Engineering Research Conference (MERCon). vol. 00, 706-711.
10-08-2024
Corrigendum to “Developments in circular external fixators: A review” [Injury, Volume 54 Issue 12 (2023), 111157]Widanage KND, De Silva MJ, Lalitharatne TD, Bull AMJ and Gopura RARC
Injury, Elsevier vol. 55 (3)
23-01-2024
2023
Developments in circular external fixators: A reviewWidanage KND, De Silva MJ, Lalitharatne TD, Bull AMJ and Gopura RARC
Injury, Elsevier vol. 54 (12)
26-10-2023
Vocal pain expression augmentation for a robopatientProtpagorn N, Lalitharatne TD, Costi L and Iida F
Frontiers in Robotics and AI, Frontiers vol. 10
13-09-2023
Editorial: EMG/EEG signals-based control of assistive and rehabilitation robots, volume IIGopura RARC, Lalitharatne TD and Zhang D
Frontiers in Neurorobotics, Frontiers vol. 17
31-08-2023
An EMG-based Spatio-spectro-temporal Index for Muscle Fatigue QuantificationDasanayake NP, Gopura RARC, Ranaweera RKPS and Lalitharatne TD
2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). vol. 00, 263-268.
31-08-2023
DeforMoBot: A Bio-Inspired Deformable Mobile Robot for Navigation Among ObstaclesMulvey BW, Lalitharatne TD and Nanayakkara T
Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (Ieee) vol. 8 (6), 3827-3834.
05-05-2023
Robotic Simulators for Tissue Examination Training With Multimodal Sensory FeedbackHe L, Maiolino P, Leong F, Lalitharatne TD, de Lusignan S, Ghajari M, Iida F and Nanayakkara T
Ieee Reviews in Biomedical Engineering, Institute of Electrical and Electronics Engineers (Ieee) vol. 16, 514-529.
01-01-2023
2022
Vocal Pain Expression Augmentation to Improve Interaction Accuracy in Virtual RobopatientProtpagorn N, Costi L, Lalitharatne TD, Nisky I and Iida F
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). vol. 00, 1-7.
24-08-2022
Soft Control Interface for Highly Dexterous Unilateral Remote PalpationCosti L, Lalitharatne TD and Iida F
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). vol. 00, 1-8.
24-08-2022
Face mediated human–robot interaction for remote medical examinationLalitharatne TD, Costi L, Hashem R, Nisky I, Jack RE, Nanayakkara T and Iida F
Scientific Reports, Springer Nature vol. 12 (1)
22-07-2022
Simulating dynamic facial expressions of pain from visuo-haptic interactions with a robotic patientTan Y, Rérolle S, Lalitharatne TD, van Zalk N, Jack RE and Nanayakkara T
Scientific Reports, Springer Nature vol. 12 (1)
10-03-2022
Origami Inspired Design for Capsule Endoscope to Retrograde Using Intestinal PeristalsisGe Y, Lalitharatne TD and Nanayakkara T
Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (Ieee) vol. 7 (2), 5429-5435.
08-03-2022
2021
A thin-walled vacuum actuator (ThinVAc) and the development of multi-filament actuators for soft robotic applicationsKulasekera AL, Arumathanthri RB, Chathuranga DS, Gopura RARC and Lalitharatne TD
Sensors and Actuators a Physical, Elsevier vol. 332
01-12-2021
In situ 4D tomography image analysis framework to follow sintering within 3D‐printed glass scaffoldsKondarage AI, Poologasundarampillai G, Nommeots‐Nomm A, Lee PD, Lalitharatne TD, Nanayakkara ND, Jones JR and Karunaratne A
Journal of The American Ceramic Society, Wiley vol. 105 (3), 1671-1684.
03-11-2021
Decoding of Hand Gestures from Electrocorticography with LSTM Based Deep Neural NetworkPradeepkumar J, Anandakumar M, Kugathasan V, Lalitharatne TD, De Silva AC and Kappel SL
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). vol. 00, 420-423.
01-11-2021
Detection and Tracking Volumes of Interest in 3D Printed Tissue Engineering Scaffolds using 4D Imaging ModalitiesKondarage AI, Gayani B, Poologasundarampillai G, Nommeots-Nomm A, Lee PD, Lalitharatne TD, Nanayakkara ND, Jones JR and Karunaratne A
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). vol. 00, 1230-1233.
01-11-2021
Comparative Analysis of Model-Based Predictive Shared Control for Delayed Operation in Object Reaching and Recognition Tasks With Tactile SensingCosti L, Scimeca L, Maiolino P, Lalitharatne TD, Nanayakkara T, Hashem R and Iida F
Frontiers in Robotics and AI, Frontiers vol. 8
27-09-2021
Portable Acquisition of Auditory ERPs: A Pilot Study of Premature InfantsPhillips JP, Pirrung CJ, Weerasinghe I, Kanishka GK, Satharasinghe Y, Lalitharatne TD, Cavanagh JF, Kodituwakku P and Wanigasinghe J
Pediatric Neurology, Elsevier vol. 122, 84-88.
12-06-2021
A Haptic Mouse Design with Stiffening Muscle Layer for Simulating Guarding in Abdominal Palpation TrainingHe L, Leong F, Lalitharatne TD, de Lusignan S and Nanayakkara T
2021 IEEE International Conference on Robotics and Automation (ICRA). vol. 00, 12588-12594.
05-06-2021
MorphFace: A Hybrid Morphable Face for a RobopatientLalitharatne TD, Tan Y, He L, Leong F, Van Zalk N, de Lusignan S, Iida F and Nanayakkara T
Ieee Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (Ieee) vol. 6 (2), 643-650.
01-01-2021
A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist ExosuitKulasekera AL, Arumathanthri RB, Chathuranga DS, Gopura RARC and Lalitharatne TD
Ieee Access, Institute of Electrical and Electronics Engineers (Ieee) vol. 9, 117067-117079.
01-01-2021
2020
Low-cost Active Dry-Contact Surface EMG Sensor for Bionic ArmsNaim AM, Wickramasinghe K, De Silva A, Perera MV, Lalitharatne TD and Kappel SL
2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC). vol. 00, 3327-3332.
14-10-2020
Motion Planning of Novel Stair-Climbing Wheelchair for Elderly and Disabled PeopleThamel SR, Munasinghe R and Lalitharatne T
2020 Moratuwa Engineering Research Conference (MERCon). vol. 00, 590-595.
30-07-2020
A Low-Profile Vacuum Actuator: Towards a Sit-to-Stand Assist ExosuitKulasekera AL, Arumathanthri RB, Chathuranga DS, Lalitharatne TD and Gopura RC
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). vol. 00, 110-115.
15-07-2020
Real-Time Hand Gesture Recognition Using Temporal Muscle Activation Maps of Multi-Channel Semg SignalsDe Silva A, Perera MV, Wickramasinghe K, Naim AM, Lalitharatne TD and Kappel SL
ICASSP 2020 - 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). vol. 00, 1299-1303.
08-05-2020
Facial Expression Rendering in Medical Training Simulators: Current Status and Future DirectionsLalitharatne TD, Tan Y, Leong F, He L, Van Zalk N, De Lusignan S, Iida F and Nanayakkara T
Ieee Access, Institute of Electrical and Electronics Engineers (Ieee) vol. 8, 215874-215891.
01-01-2020
2019
Motor Imagery EEG-EOG Signals based Brain Machine Interface (BMI) for a Mobile Robotic Assistant (MRA)Mallikarachchi S, Chinthaka D, Sandaruwan J, Ruhunage I and Lalitharatne TD
2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE). vol. 00, 812-816.
30-10-2019
Vision-based Leader-Follower Mobile Robots for Cooperative Object HandlingJayarathne DU, Vidumal HAKR, Senevirathne SMA, Jayasekara PG and Lalitharatne TD
2019 19th International Conference on Control, Automation and Systems (ICCAS). vol. 00, 747-752.
15-10-2019
Development of a Robotic Manipulator to be used in Multirotor Aerial VehicleWijayathunga N, Lalitharatne TD, Chathuranga DS and Jayasekara B
2019 Moratuwa Engineering Research Conference (MERCon). vol. 00, 638-643.
05-07-2019
Development of Wearable Fingertip Tactile Display Driven by Bowden CablesPremarathna C, Kulasekera A, Chathuranga D and Lalitharatne T
2019 Moratuwa Engineering Research Conference (MERCon). vol. 00, 621-626.
05-07-2019
A Novel Fabrication Method for Rapid Prototyping of Soft Structures with Embedded Pneumatic ChannelsPremarathna C, Kulasekera A, Chathuranga D and Lalitharatne T
2019 Moratuwa Engineering Research Conference (MERCon). vol. 00, 430-435.
05-07-2019
Hybrid EEG-EMG Signals Based Approach for Control of Hand Motions of a Transhumeral ProsthesisRuhunage I, Mallikarachchi S, Chinthaka D, Sandaruwan J and Lalitharatne TD
2019 IEEE 1st Global Conference on Life Sciences and Technologies (LifeTech). vol. 00, 50-53.
12-03-2019
2018
Design and Characterization of a 1-axis Compact Torque Sensor for a Collaborative Robot ArmSandakalum T, Suraji S, Weerasekara I, Lalitharatne T and Chathuranga D
2018 IEEE International Conference on Information and Automation for Sustainability (ICIAfS). vol. 00, 1-6.
21-12-2018
Haptic Feedback System for an Artificial Prosthetic Hand for Object Grasping and Slip Detection: A Preliminary StudyPremarathna CP, Ruhunage I, Chathuranga DS and Lalitharatne TD
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). vol. 00, 2304-2309.
12-12-2018
EEG-SSVEP based Brain Machine Interface for Controlling of a Wheelchair and Home Appliances with Bluetooth Localization SystemRuhunage I, Perera CJ, Munasinghe I and Lalitharatne TD
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). vol. 00, 2520-2525.
12-12-2018
A Soft Robotic Gripper with Sensory Feedback Fabricated by Latex using Coagulant Dipping ProcessArumathanthri RB, Abeygoonawardana BSK, Kumarasinghe IDCD, Chathuranga DS, Lalitharatne TD and Kulasekera AL
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). vol. 00, 2082-2087.
12-12-2018
Scalable Autonomous Agronomical SmartbotAthukorala A, Ranasinghe N, Herath K, Jayasekara P and Lalitharatne TD
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA). vol. 00, 1-6.
04-07-2018
An Underactuated Linkage Finger Mechanism for Hand ProsthesesH. MCMH, R. ARCG and Thilina DL
Modern Mechanical Engineering, Scientific Research Publishing vol. 08 (02), 121-139.
01-01-2018
2017
Prosthetic Hand with a Linkage Finger Mechanism for Power Grasping ApplicationsHerath HMCM, Gopura RARC and Lalitharatne TD
2017 IEEE Life Sciences Conference (LSC)., 304-307.
01-12-2017
Fabrication of a Soft Tactile Display Based on Pneumatic Balloon Actuators and Voice Coils: Evaluation of Force and Vibration SensationsPremarathna CP, Chathuranga DS and Lalitharatne TD
2017 IEEE/SICE International Symposium on System Integration (SII)., 763-768.
01-12-2017
EMG Signal Controlled Transhumeral Prosthetic with EEG-SSVEP Based Approch for Hand Open/CloseRuhunage I, Perera CJ, Nisal K, Subodha J and Lalitharatne TD
2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)., 3169-3174.
01-10-2017
Design and Development of an Automated Battery Swapping and Charging Station for Multirotor Aerial VehiclesHerath HMCWB, Herath HMS, Sumangala SW, de Silva O, Chathuranga D and Lalitharatne TD
2017 17th International Conference on Control, Automation and Systems (ICCAS)., 356-361.
01-10-2017
Design and Development of a Wearable Haptic Feedback Device to Recognize Textured Surfaces: Preliminary StudyAtapattu SH, Senevirathna NM, Shan HLU, Madusanka TBT, Lalitharatne TD and Chathuranga DS
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)., 16-21.
01-07-2017
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.Nisal K, Ruhunge I, Subodha J, Perera CJ and Lalitharatne TD
2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2017, 909-912.
01-07-2017
EEG-Controlled Meal Assistance Robot with Camera-Based Automatic Mouth Position Tracking and Mouth Open DetectionPerera CJ, Lalitharatne TD and Kiguchi K
2017 IEEE International Conference on Robotics and Automation (ICRA)., 1760-1765.
01-05-2017
Adaptive Foot in Lower‐Limb ProsthesesWeerakkody TH, Lalitharatne TD and Gopura RARC
Journal of Robotics, Hindawi vol. 2017 (1), 1-15.
01-01-2017
Development of an Active Shoulder Prosthesis with Low-Level Control ValidationWeerakkody TH, Lalitharatne TD, Gopura RARC, Liyanaarachchi N and Herath C
Modelling, Identification and Control.
01-01-2017
2016
SSVEP Based BMI for a Meal Assistance RobotPerera CJ, Naotunna I, Sadaruwan C, Gopura RARC and Lalitharatne TD
2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)., 002295-002300.
01-10-2016
Development of A Numerically Controlled Hot Wire Foam Cutting Machine for Wing Mould ConstructionAbeysinghe A, Abeysiriwardena S, Nanayakkarawasam R, Wimalsiri W, Lalitharatne TD and Tennakoon S
2016 Moratuwa Engineering Research Conference (MERCon)., 60-65.
01-04-2016
Electrooculography Signal based Control of a Meal Assistance RobotPerera CJ, Naotunna I, Sandaruwan C, Kelly-Boxall NJ, Gopura RARC and Lalitharatne TD
Biomedical Engineering.
01-01-2016
2015
Meal Assistance Robots: A Review on Current Status, Challenges and Future DirectionsNaotunna I, Perera CJ, Sandaruwan C, Gopura RARC and Lalitharatne TD
2015 IEEE/SICE International Symposium on System Integration (SII)., 211-216.
01-12-2015
2014
EEG-based evaluation for perception-assist in upper-limb power-assist exoskeletonsLalitharatne TD, Teramoto K, Hayashi Y, Tamura K and Kiguchi K
2014 World Automation Congress (WAC)., 1-6.
01-08-2014
Evaluation of Perception-Assist with an Upper-Limb Power-Assist Exoskeleton using EMG and EEG SignalsLalitharatne TD, Teramoto K, Hayashi Y and Kiguchi K
Proceedings of the 11th IEEE International Conference on Networking, Sensing and Control., 524-529.
01-04-2014
2013
Towards Hybrid EEG-EMG-Based Control Approaches to be Used in Bio-robotics Applications: Current Status, Challenges and Future DirectionsLalitharatne TD, Teramoto K, Hayashi Y and Kiguchi K
Paladyn Journal of Behavioral Robotics, De Gruyter vol. 4 (2), 147-154.
01-12-2013
Estimation of Forearm Supination/Pronation Motion Based on EEG Signals to Control an Artificial ArmKIGUCHI K, LALITHARATNE TD and HAYASHI Y
Journal of Advanced Mechanical Design Systems and Manufacturing, Japan Society of Mechanical Engineers vol. 7 (1)
01-01-2013
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 ExoskeletonsLALITHARATNE TD, TERAMOTO K, HAYASHI Y, NANAYAKKARA T and KIGUCHI K
Journal of Advanced Mechanical Design Systems and Manufacturing, Japan Society of Mechanical Engineers vol. 7 (4)
01-01-2013
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.Lalitharatne TD, Hayashi Y, Teramoto K and Kiguchi K
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). vol. 2013, 6949-6952.
01-01-2013
2012
Control Methodologies for Upper Limb Exoskeleton RobotsGunasekara JMP, Gopura RARC, Jayawardane TSS and Lalitharathne SWHMTD
2012 IEEE/SICE International Symposium on System Integration (SII)., 19-24.
01-12-2012
A Study on Effects of Muscle Fatigue on EMG-Based Control for Human Upper-Limb Power-AssistLalitharatne TD, Hayashi Y, Teramoto K and Kiguchi K
2012 IEEE 6th International Conference on Information and Automation for Sustainability., 124-128.
01-09-2012
Toward EEG Control of Upper Limb Power-Assist Exoskeletons: A Preliminary Study of Decoding Elbow Joint Velocities Using EEG SignalsLalitharatne TD, Yoshino A, Hayashi Y, Teramoto K and Kiguchi K
2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS)., 421-424.
01-04-2012
Grants
Grants of specific relevance to the Centre for BioengineeringSOFTSocket: Soft Robotic Inspired Sockets for Upper-Limb ProstheticsThilina Dulantha Lalitharatne
£19,302 EPSRC Engineering and Physical Sciences Research Council
01-02-2025 - 31-07-2025