HapticWe have been curious to understand why people condition the hand when they explore objects. Conditioning involves variation of antagonistic muscle co-contraction, posture, and shape of the limbs. Intuitively, we can predict that these conditioning behaviors changes the way external forces are projected across different sensors in the body to extract different features in the stimulus. Here are some of our publications in this area:

  1. He, L., Herzig, N., de Lusignan, S., Scimeca, L., Maiolino, P., Iida, F., & Nanayakkara, T.  "An Abdominal Phantom with Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training", IEEE Transactions on Robotics, 2020. [PDF]
  2. Luca Scimeca, Josie Hughes, Perla Maiolino, Liang He, Thrishantha Nanayakkara, Fumiya Iida, "Action Augmentation of Tactile Perception for Soft-Body Palpation", Soft Robotics, 2021 [PDF]
  3. Thilina Lalitharatne, Jacob Tan, Liang He, Florence Ching Ying Leong, Nejra Van Zalk, Simon De Lusignan, Fumiya Iida, Thrishantha Nanayakkara, “MorphFace: A Hybrid Morphable Face for a Robopatient”, IEEE Robotics and Automation Letters (RAL), 2020. [PDF][Media]
  4. Lalitharatne, Thilina Dulantha, Yongxuan Tan, Florence Leong, Liang He, Nejra Van Zalk, Simon de Lusignan, Fumiya Iida, and Thrishantha Nanayakkara. "Facial Expression Rendering in Medical Training Simulators: Current Status and Future Directions." IEEE Access (2020). [PDF]
  5. Nicolas Herzig, Liang he, Perla Maiolino, Sara-Adela Abad, Thrishantha Nanayakkara, “Conditioned haptic perception for 3D localization of nodules in soft tissue palpation with a variable stiffness probe”, PONE-D-20-03370R2, 2020. [PDF][Media][Data repository]
  6. Jelizaveta Konstantinova, Giuseppe Cotugno, Prokar Dasgupta, Kaspar Althoefer, Thrishantha Nanayakkara, “Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs”, PLoS ONE, PONE-D-16-31711R2 PDF
  7. J. Konstantinova, M. Li, M. Gautam, P. Dasgupta, K. Althoefer and T. Nanayakkara. “Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues”,  IEEE Transactions on Biomedical Engineering, pp. 1651 – 1659, vol. 16, no. 6, DOI: 10.1109/TBME.2013.22968772014. PDF
  8. J. Konstantinova, A. Jiang, K. Althoefer P. Dasgupta, and T. Nanayakkara. “Implementation of Tactile Sensing for Palpation in Robot-Assisted Minimally Invasive Surgery”, IEEE Sensors Journal, pp.2490 – 2501, vol. 14, no. 8, DOI: 10.1109/JSEN.2014.2325794, 2014. PDF
  9. Nantachai Sornkarn, Matthew Howard,Thrishantha Nanayakkara, “Internal Impedance Control Helps Information Gain in Embodied Perception”, in IEEE International Conference on Robotics and Automation (ICRA), pp.6685 – 6690, DOI: 10.1109/ICRA.2014.6907846, 2014. PDF
  10. Nantachai Sornkarn and Thrishantha Nanayakkara, “Can a soft robotic probe use stiffness control like a human finger to improve efficacy of haptic perception?”, in press, IEEE Transactions on Haptics, 2016. PDF
  11. Sornkarn N, Dasgupta P, Nanayakkara T (2016) Morphological Computation of Haptic Perception of a Controllable Stiffness Probe. PLoS ONE 11(6): e0156982. doi:10.1371/journal.pone.0156982 PDF
  12. Nantachai Sornkarn and Thrishantha Nanayakkara “The Efficacy of Interaction Behavior and Internal Stiffness Control for Embodied Information Gain in Haptic Perception”, IEEE International Conference on Robotics and Automation (ICRA), pp. 2657 – 2662, DOI: 10.1109/ICRA.2016.7487425, 2016. PDF
  13. Ranasinghe, A., Dasgupta, P., Nagar, A., & Nanayakkara, T. (2018). Human Behavioral Metrics of a Predictive Model Emerging During Robot-Assisted Following Without Visual Feedback. IEEE Robotics and Automation Letters3(3), pp. 2624-2631. PDF
  14. Ranasinghe A, Dasgupta P, Althoefer K, Nanayakkara T (2015) Identification of Haptic Based Guiding Using Hard Reins. PLoS ONE 10(7): e0132020. doi:10.1371/journal.pone.0132020. PDF
  15. Anuradha Ranasinghe, Jacques Pendars, Prokar Dasguptha, Kaspar Althoefer, Thrishantha Nanayakkara, “Salient Features of Haptic Based Guidance of People with Limited Vision Using Hard Reins”, IEEE Transactions on SMC – Cybernetics, pp. 568 – 579, DOI: 10.1109/TCYB.2015.2409772, 2015. PDF
  16. Song, Xiaojing, Hongbin Liu, Kaspar Althoefer, Thrishantha Nanayakkara, and Lakmal D. Seneviratne. “Efficient Break-Away Friction Ratio and Slip Prediction Based on Haptic Surface Exploration.” IEEE Transactions on Robotics, vol. 30, no. 1, 203 – 219, DOI: 10.1109/TRO.2013.22796302014. PDF