Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics



+44 (0)20 7594 0965t.nanayakkara Website CV




RCS1 M229Dyson BuildingSouth Kensington Campus





Director of Morph Lab

Thrishantha's research in controllable stiffness robots tries to understand how physical mechanisms in the body and environment contribute to solve computational problems to achieve accurate perception and stable action in dynamic environments.

Selected Publications

Journal Articles

Xinyang T, He L, Cao J, et al., 2020, A soft pressure sensor skin for hand and wrist orthoses, Ieee Robotics and Automation Letters, Vol:5, ISSN:2377-3766, Pages:2192-2199

Abad S-A, Herzig N, Sadati SMH, et al., 2019, Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof, IEEE Transactions on Robotics, Vol:35, ISSN:1552-3098, Pages:1450-1463

Akhond S, Herzig N, Wegiriya H, et al., 2019, A method to guide local physical adaptations in a robot based on phase portraits, Ieee Access, Vol:7, ISSN:2169-3536, Pages:1-13

Cotugno G, Konstantinova J, Althoefer K, et al., 2018, Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands, PLOS One, Vol:13, ISSN:1932-6203

Ranasinghe A, Dasgupta P, Nagar A, et al., 2018, Human behavioral metrics of a predictive model emerging during robot assisted following without visual feedback, Ieee Robotics and Automation Letters, Vol:3, ISSN:2377-3766, Pages:2624-2631

Herzig N, Maiolino P, Iida F, et al., 2018, A Variable Stiffness Robotic Probe for Soft Tissue Palpation, Ieee Robotics and Automation Letters, Vol:3, ISSN:2377-3766, Pages:1168-1175

Sadati SMH, Naghibi SE, Walker ID, et al., 2017, Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods, Ieee Robotics and Automation Letters, Vol:3, ISSN:2377-3766, Pages:328-335

Nanayakkara DPT, Konstantinova J, Cotugno G, et al., 2017, Palpation force modulation strategies to identify hard regions in soft tissue organs, PLOS One, Vol:12, ISSN:1932-6203

Sornkarn N, Nanayakkara T, 2016, Can a Soft Robotic Probe Use Stiffness Control Like a Human Finger to Improve Efficacy of Haptic Perception?, IEEE Transactions on Haptics, Vol:10, ISSN:1939-1412, Pages:183-195

Sornkarn N, Dasgupta P, Nanayakkara T, 2016, Morphological computation of haptic perception of a controllable stiffness probe, PLOS One, Vol:11, ISSN:1932-6203

Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, et al., 2016, Stable grip control on soft objects with time-varying stiffness, IEEE Transactions on Robotics, Vol:32, ISSN:1552-3098, Pages:626-637

Cotugno G, Althoefer K, Nanayakkara T, 2016, The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands, Ieee Transactions on Systems Man Cybernetics-systems, Vol:47, ISSN:2168-2216, Pages:1061-1070

Ranasinghe A, Dasgupta P, Althoefer K, et al., 2015, Identification of Haptic Based Guiding Using Hard Reins, PLOS One, Vol:10, ISSN:1932-6203

Ranasinghe A, Sornkarn N, Dasgupta P, et al., 2015, Salient feature of haptic-ased guidance of people in low visibility environments using hard reins., Ieee Transactions on Cybernetics, Vol:46, ISSN:2168-2267, Pages:568-579

Konstantinova J, Li M, Mehra G, et al., 2014, Behavioral Characteristics of Manual Palpation to Localize Hard Nodules in Soft Tissues, IEEE Transactions on Biomedical Engineering, Vol:61, ISSN:0018-9294, Pages:1651-1659


Abad S-A, Sornkarn N, Nanayakkara T, 2016, The role of morphological computation of the goat hoof in slip reduction, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Pages:5599-5605, ISSN:2153-0866

Sornkarn N, Nanayakkara T, 2016, The efficacy of interaction behavior and internal stiffness control for embodied information gain in haptic perception, IEEE International Conference on Robotics and Automation (ICRA) 2016, IEEE, Pages:2657-2662, ISSN:1050-4729

Sadati SMH, Shiva A, Ataka A, et al., 2016, A geometry deformation model for compound continuum manipulators with external loading, 2016 IEEE International Conference on Robotics and Automation, Pages:4957-4962, ISSN:1050-4729

Nanayakkara T, Byl K, Liu H, et al., 2012, Dominant Sources of Variability in Passive Walking, IEEE International Conference on Robotics and Automation (ICRA), IEEE, Pages:1003-1010, ISSN:1050-4729

More Publications