Y.W.R. Amarasinghe

Hybrid Vision Based Reach-to-Grasp Task Planning Method for Trans-Humeral Prostheses

This paper proposes a hybrid vision-based reach-to-grasp task planning method for trans-humeral prostheses exploiting both vision and electromyography (EMG) signals. The hybrid method mainly consists of 2-1/2D visual servoing module and EMG-based module. The visual servoing intends to align the object on to the center of the palm while correcting its orientation. EMG signals extracted from the remaining muscles of the disabled arm due to amputation are used to control the elbow flexion/extension (FE). While using the 2-1/2D visual servoing module, the object reaching algorithm changes the elbow FE angle to reach the palm toward the object of interest. Initially, the EMG-based module controls the elbow FE. Once an object is detected, the EMG signals emanating from the arm muscles generate a reach request. This process then activates the visual servoing module to bring the palm toward the object. Since both EMG-based module and the visual servoing module are producing elbow FE angles while reaching toward an object, these two modules are integrated to obtain a resultant angle for elbow FE. Experiments are conducted using a simulation environment and a prosthesis to validate the proposed task planning method. The EMG-based module is capable of following the natural elbow FE motion. Moreover, the task planning method is capable of driving the prosthesis toward the object with proper orientation.

Development of multifunctional building automation controller with real-time sensor network

Building automation systems has gained huge attraction in building services sector with the development of new concepts in energy conservations. A multifunctional building automation controller has been introduced to cater this demand. The plug-and-play type suggested controlling system consists of two major components; external sensing device and main controlling unit mounted in-house. The external sensing device measures ambient conditions and feed the measurements to the main controlling unit either via wired communication or wireless methods. Single board computer based main controller evaluates external conditions, indoor conditions and user preferences to control home appliances via its own IR (Infrared) teachable device. A graphical user interface was also developed to be used as a user friendly interface between the system and the user.

Design and development of a novel 3D printed 1-DOF tactile sensor with conductive polymer based sensing element

Tactile sensors provide vital information of robotics, manufacturing, and day to day household electronic appliances. Off the shelf force sensors are generally not cohesive to specific application requirements, resulting subsequently in sensor modules with unsuitable dimensionality, output characteristics, and mechanical properties. Encompassing these issues, rapid prototyping/ 3D printing could be utilised to develop highly customisable tactile sensors. In this paper, a novel sensor structure for a conductive polymer based tactile sensor has discussed. The inherent problems in conductive polymer piezoresistive characteristics such as operation range deviation w.r.t. chemical composition has mitigated.