Browsing by Author "Perera, ULS"

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item: Conference-Extended-Abstract
Development of a scaled vehicle Model for dynamics testing
(2021-09-06) Hewavithana, RR; Ravihara, JPL; Wishwajith, KKS; Perera, ULS; Dasanayake, NP; Gamage, JR
The interest in using scaled models for dynamics testing of prototype vehicles is growing due to the high demand for autonomous driving. In the early design phases, vehicle testing is done using computer simulations. Even though computer simulations are proven to be extremely helpful in designing prototypes, simulation models need to be validated using realworld testing. There are high costs involved in vehicle testing and it’s dangerous to conduct aggressive driving manoeuvres with real drivers.
item: Conference-Full-text
Hipexo: a hip exoskeleton robot for load lifting with flexible trunk linkage mechanism
(IEEE, 2020-07) Perera, ULS; Dasanayake, NP; Hettiarachchi, HPT; Mannapperuma, MAVA; Ranaweera, RKPS; Gopura, RARC; Weeraddana, C; Edussooriya, CUS; Abeysooriya, RP
This paper proposes a hip exoskeleton robot named HipExo to provide power assistance for the industrial workers during stoop lifting activities. It introduces a hybrid actuator to power the hip joints. The electric motor and transmission is coupled to a spring system that can store biomechanical energy during the descent phase and release the stored energy during the ascent phase of the lifting cycle. Furthermore, the robot is comprised of flexible upper body linkage mechanism capable of adapting to the lumbar curvature and assuming the shape of the trunk. A mathematical model is formulated to estimate the hip torque profile for the stoop lifting cycle. Moreover, a torque control approach was introduced to control the robot according to the motion intentions of the user. The experimental results reveal that HipExo is effective in reducing muscle activity during stoop lifting and it has the potential of alleviating lift-related musculoskeletal disorders.
item: Conference-Full-text
Igrasp hand: a biomimetic transradial robotic hand prosthesis with a clutching mechanism
(IEEE, 2021-07) Dasanayake, NP; Viduranga, PKP; Perera, ULS; Siyambalagoda, SAPK; Cooray, TMGCSP; Adhikariwatte, W; Rathnayake, M; Hemachandra, K
This paper proposes a nineteen degrees of freedom transradial robotic hand prosthesis, named iGrasp Hand. The device consists of three units: clutching unit, wrist unit and hand unit. Fingers of the iGrasp Hand are actuated by six motors, coupled to an under-actuated tendon-based mechanism. A novel clutching mechanism, installed with one-way bearings, is introduced to achieve passive isometric contraction of fingers during grasps. Palmar arching is facilitated by the addition of carpometacarpal joints in the ring and little fingers. A mathematical model is formulated to analyse finger motion and a prototype is fabricated for experimental testing. Moreover, a position control algorithm is implemented to achieve targeted grasping patterns. Several experiments were carried out to evaluate the effectiveness of the device. The results reveal the capability of iGrasp Hand in achieving twelve grasping patterns, ranging from power to precision grasps. The palmar arching and opposition/re position movement of the thumb allows the grasping of smaller objects. Furthermore, the potential for reducing energy consumption during the isometric hold was investigated. The iGrasp Hand can perform over 70% of activities-of-daily-Iiving and mimic the human hand with an anthropomorphism mobility index of 40%.
item: Article-Full-text
iGrasp Robotic prosthetic hand
(2021) Widanage, KND; Perera, ULS; Dasanayake, NP; Viduranga, RKP; Siyambalagoda, SAPK; Cooray, TMGCSP; Fernando, KRT; Ranaweera, RKPS; Gopura, RARC
e are living in an era in which technology is shaping the world at an incredible speed. In this wake, the Bionics laboratory of the Department of Mechanical Engineering of the University of Moratuwa is doing inspiring research to improve the quality of life of differently-abled people.