Browsing by Author "Bandara, DSV"

Now showing 1 - 8 of 8

item: Conference-Abstract
A Brief review on upper extremity robotic exoskeleton systems
(2016-09-23) Gopura, RARC; Kiguchi, K; Bandara, DSV
Robotic exoskeleton systems are one of the highly active areas in recent robotic research. These systems have been developed significantly to be used for the human power augmentation, robotic rehabilitation, human power assist, and haptic interaction in virtual reality. Unlike the robots used in industry, the robotic exoskeleton systems should be designed with special consideration since they directly interact with human user. In the mechanical design of these systems, movable ranges, safety, comfort wearing, low inertia, and adaptability should be especially considered. Controllability, responsiveness, flexible and smooth motion generation, and safety should especially be considered in the controllers of exoskeleton systems. Furthermore, the controller should generate the motions in accordance with the human motion intention. This paper briefly reviews the upper extremity robotic exoskeleton systems. In the short review, it is focused to identify the brief history, basic concept, challenges, and future development of the robotic exoskeleton systems. Furthermore, key technologies of upper extremity exoskeleton systems are reviewed by taking state-of-the-art robot as examples.
item: Thesis-Abstract
Development of an anthropomorphic transhumeral prosthetic arm for upper ...
(2015-09-16) Bandara, DSV; Gopura, RARC; Hemapala, KTMU; Kiguchi, Kazuo
During the past few years there was a rapid development in robotic prosthetic limb technology to be used for the upper limb amputees. Anthropomorphic transhumeral arm prosthesis is proposed in this thesis to assist the activities of daily living of amputees. The prosthesis generates elbow flexion/extension, forearm supination/pronation, wrist ulna/radial deviation, wrist flexion/extension and another 11 DoF at the terminal device. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. Two wrist motions occur in two different axes. The wrist design also follows the human anatomical structure. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The arm prosthesis consists of an under-actuated hand as the terminal device with intrinsic actuation. A novel under-actuated mechanism is introduced as the finger designs, except for the thumb. The mechanism is capable of generating 3 DoF for the finger design. It further poses the capability of adjusting the finger joint angles passively, according to the geometry of the grasping object. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out. The results proved that the mechanisms are capable of generating the required DoFs to generate the lost motions of the human upper limb. Several experiments are carried out using the prototype of the arm prosthesis. Experimental results also proved the effectiveness of the proposed mechanisms for expected motion generation. Additionally a parameter to evaluate the finger designs of finger mechanisms is introduced
item: Article-Full-text
Developments in hardware systems of active upper-limb exoskeleton robots: A review
(Elsevier, 2016) Gopura, RARC; Bandara, DSV; Kiguchi, K; Man, GKI
The very first application of active exoskeleton robot was to provide external power to a soldier so that he can carry extra weight. Since then this technology has focused on developing systems for assisting and augmenting human power. Later this technology has been used in other applications such as limb rehabilitation and tele-operations. Exoskeleton research is still a growing area and demands multi-disciplinary approaches in solving complex technical issues. In this paper, the developments of active upper-limb exoskeleton robots are reviewed. This paper presents the major developments occurred in the history, the key milestones during the evolution and major research challenges in the present day context of hardware systems of upper-limb exoskeleton robots. Moreover, the paper provides a classification, a comparison and a design overview of mechanisms, actuation and power transmission of most of the upper-limb exoskeleton robots that have been found in the literature. A brief review on the control methods of upper-limb exoskeleton robots is also presented. At the end, a discussion on the future directions of the upper-limb exoskeleton robots was included.
item: Conference-Abstract
Financial market forecasting by integrating wavelet transform and K-means clustering with support vector machine
(2016-09-23) Roshan, WDS; Gopura, RARC; Jayasekara, AGBP; Bandara, DSV;
Financial market forecasting is a challenging problem and researchers are still exploring the ways to improve the performance of the existing models. This paper presents a forecasting model by integrating wavelet transform, K-means clustering with support vector machine. At the first stage, noise of the input prices is removed by using wavelet denoising. Wavelet multi resolution analysis is used to decompose the original time series in to multiple details and approximated decompositions. Individual support vector models are trained for each detail part. Approximated part is further analyzed by clustering and training support vector models for each cluster. Finally the forecast is made for the wavelet denoised time series by summing up the forecasts of each support vector model. Results have shown that the proposed model has given the accurate forecast and has the capability to support decisions in real world trading.
item: Conference-Abstract
A multi-DoF anthropomorphic transradial prosthetic arm
Bandara, DSV; Gopura, RARC; Hemapala, KTMU; Kiguchi, K
An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.
item: Conference-Full-text
Process optimization of Sri Lankan saucepan manufacturing industry by time study analysis
(2015-07-09) Gayan, RBA; Rameshkanna, Y; Ratheesan, R; Senevirathne, SWMAI; Mangala, KHJ; Bandara, DSV
This study was carried out at the Jayantha Saucepan Industry to improve and enhance the productivity by reducing the idle time and enhance the bottleneck by different methods such as changing the layouts, changing the number of work stations and changing the process flow. During the study, it investigated and searched for possible solutions and alternatives aimed at achieving the objective by Pareto analysis for time study, allocating the work stations in an effective way, changing the layout for a better productivity, and analysing skill matrix to allocate the works for the current labourers, and train the labourers and need of hiring more labourers for the particular work stations in an efficient way to enhance the bottleneck manually. Further improvements such as adapting into new techniques and using better alternatives for some processes were also discussed to enhance the productivity of the local saucepan manufacturing industry. Overall, suggested alternatives yielded an expected improvement of 20% in the production capacity
item: Conference-Abstract
An Under-actuated mechanism for a robotic finger
Bandara, DSV; Gopura, RARC; Kajanthan, G; Brunthavan, M; Abeynayake, HIMM
Robotic hands can be applied in different applications such as prosthesis, humanoid robots, industrial robotic manipulators and other kinds of robotic arms. Introduction of robotic technology into the field of prosthesis has resulted a higher quality of life for amputees. In this paper an under-actuated mechanism which has the self-adaptation ability is proposed to be used in the fingers of the hand prosthesis. The mechanism is a modification of the cross bar mechanism and it shows grasping adaptation ability for different geometries. In addition the mechanism is capable to generate dexterous grasping patterns making a paradigm shift from the conventional linkage mechanisms used for fingers which only has the capability for the grasping. Kinematic analysis, mathematical simulation and computer simulations were carried out to evaluate the effectiveness of the mechanism.Furthermore a new parameter, degree of adaptation is introduced to evaluate the performance of the under-actuated finger mechanisms.
item: Conference-Abstract
Upper extremity prosthetics: Current status, challenges and future directions
Bandara, DSV; Gopura, RARC; Hemapala, KTMU; Kiguchi, K
There is a drastic increment of the demand for prosthetic devices over the last few decades. This is caused by the increased amputees because of casualties due to civil wars, injuries due to accidents, etc. Therefore, the robotic prostheses are one of the highly interested research areas in recent robotic research. The target is to make sure the amputee gets a better chance to interact with the real world, in spite of the amputation he has. The paper presents the results of a comprehensive literature analysis towards a development of an upper-limb prosthetic arm. This study identifies the methods of prosthetic classification as the segment of application, number of degrees of freedom (DoF), types of applied actuators, types of power transmission methods and control methods. In this study, the upper extremity prosthetic devices are classified based on the segment of application. Thus, they can be mainly classified into shoulder prosthetics, transhumeral and elbow prosthetics, transradial and hand prosthetics. This study considers all the above categories of recent upper extremity prosthetics, and reviews their key technologies by taking state-of-the-art robots as examples