Isura Ranatunga

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In this paper, we describe the implementation of interactive robotics in virtual environments accomplishing human-robot interaction for treatment of Autism Spectrum Disorders (ASDs). Interaction between our system and children suffering from ASDs is accomplished by teaching them body language such as hand and arm motion, facial expressions and speech to(More)
In this paper, we describe control algorithms accomplishing human-robot interaction through mimicking behaviors between the humanoid robot Zeno and humans. Specifically, arm and torso motions of the robot follow closely those of the human, this mimicking behavior, can be used for clinical treatment and diagnosis during robot therapy of subjects suffering(More)
This paper describes Neptune, a mobile manipulator designed as an assistive device for the rehabilitation of children with special needs, such as those suffering from Cerebral-Palsy. Neptune consists of a mobile robot base and a 6DOF robotic arm, and it is interfaced to users via Wii Remote, iPad, Neural Headset, a camera, and pressure sensors. These(More)
An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops.(More)
Autism is characterized by limitations in social interaction, speech, imitation and motor coordination. Recent studies suggest a link between imitation and Autism. In this paper, a robot is utilized to practice imitation learning in individuals with Autism. A system is proposed to gradually improve the imitation and social interaction of patients by(More)
This paper discusses the problem of estimating the full state-vector (position/orientation) of an AR.Drone quadrotor using measurements from an inertial measurement unit (IMU) and an on-board camera taking images of predefined markers. The platform used is an inexpensive commercial quadrotor. The open-source Robot Operating System (ROS) is used to manage(More)