Dr. R.A.R.C. Gopura

Contact information

Address

University of Moratuwa

Dept. of Mechanical Engineering, Faculty of Engineering, University of Moratuwa, Katubedda, Sri Lanka.

Moratuwa

10400

Office
Extension
4512
Primary Email
gopura@mech.mrt.ac.lk

Teaching and Administrative Activities

Teaching

Undergraduate Subjects

BSc Engineering Degree Programme

ME3050: Machine Design and Project

ME3082: Technical Report Writing

ME3622: Fundamental Biomechanics

ME4502: Robotics Technolog

 

Postgraduate Subjects

MEng in Manufacturing Systems Engineering Programme

ME5144: Mechatronics and Robotics

ME5145: Artificial Intelligence in Manufacturing

Research Activities

Research Supervision

Recently Completed Undergraduate Design/Research Projects

·   A Robotic Prosthetic for Lower Limb Amputees

·   Electromyography (EMG) Signal Based Control of a Lower Extremity Wearable Robot

·   Development of a Robotic Hand Prosthetics

·   Development of a Multi-functional Hand Prosthesis with a Self-Adaptive Mechanism

·   Development of a Shoulder Exoskeleton with Novel Slider Mechanisms

·   Development of a Trans-femoral Prosthesis

·   Development of EMG Based Control for a Trans-radial Prosthetic Arm

·   Development of an Upper-Limb Exoskeleton Robot for Rehabilitation

·   Design and Development of an Automated Microscopic Imaging System for TB Screening

·   An Exoskeleton Robot for Upper Limb Rehabilitation and Motion Assistance

·   Development of a 5DOF Trans-humeral Prosthesis

 

Ongoing Postgraduate Research Projects

·   Vision Aided Task Planning and Control of a Trans-humeral Robotic Prosthetic Arm- PhD

     ·   Development and Control of a Lower-Limb Power Assist Exoskeleton Robot and Adaptive Control Methodology to Nullify Environmental Disturbances - PhD

·   Controlling of a Trans-humeral Prosthetic Arm in Accordance with Human Motion Intention - MPhil

·   Kinematics Model of an Upper-Limb Exoskeleton Robot with Physical Compliance – MSc

·   Development of a Trans-femoral Prosthetic Device - MSc

·   Development of a Robotic Ortho-Prosthesis for Trans-humeral Amputees - MSc

 

Key Research Areas
Assistive robots
Rehabilitation/medical robotics
Biomedical Engineering

Education and Training

Education
BSc Engineering (2004, Moratuwa)
MEng in Manufacturing Systems Engineering (2009, Moratuwa)
PhD in Robotics and Intelligent Systems (2009, Saga University, Japan)
Training / Work Experience
2010 May - to date: Senior Lecturer, University of Moratuwa, Sri Lanka
2009 October - 2010 March: Post-doctoral Researcher, Saga University, Japan
2006 September - 2009 September: Doctoral Researcher, Saga University, Japan
2004 September- 2006 August: Lecturer (Temporary), Department of Textile and Clothing Technology, University of Moratuwa
2004 March – 2004 August: Research Assistant, Department of Mechanical Engineering, University of Moratuwa

Career

Professional Affiliations
AMIESL 2004
MJSME (Japanese Society of Mechanical Engineers) 2007 -2012
AMSLEMA 2005
SMIEEE 2006
Member Ceylon Automobile Association 2007
Positions Held
Secretary, IEEE Sri Lanka Section (2015/02- 2016/01)
Secretary, IEEE Robotics and Automation Society Sri Lanka Section Chapter (2013/01- 2017/02)
Professional Activities
Chair, IEEE Robotics and Automation Society Sri Lanka Section Chapter (2017/02- to date)

Honours and Awards

Honours and Awards
Best technical paper award from the Manufacturing and Industrial Engineering Symposium (MIES 2016) held at Waters Edge Colombo, Sri Lanka, 22 October 2016.
Post-doctoral fellowship, Saga University, Japan (2009/10-2010/03)
Winner of Rs. 4.2M grant from NRC for the research project 'Development of Assistive Robotic Limbs'
Winner of NSF research grant
Received 4 SRC grants from University of Moratuwa
Japanese government Monbukagakusho scholarship to follow doctoral degree (2006/10-2009/09)
Best student paper award in the track of Technical Advances in Disaster Management, Welfare, and Rehabilitation for Sustainability of International Conference on Information and Automation for Sustainability, (ICIAfS) 2008, Sri Lanka
Travel and registration award to participate IEEE International Conference on Robotics and Automation (ICRA) 2008 from IEEE Robotics and Automation Society (RAS), USA
Biographical profile in Marquis Who's Who in the World 2012 - 29th Edition, 2014 - 31st Edition and 2015 - 32nd Edition
IEEE RAS BP travel grant 2017 from ICRA 2017
Lead Guest Editor of Special Issue on Robotic Prosthetic Limbs in Journal of Robotics
Best Presentation of Mechanical Control and Automation Session of IEEE International Conference on Control Automation and Robotics held at Nagoya Institute of Techn

Publications*

Publications

Book Chapters

  1. R. A. R. C. Gopura, D.S.V. Bandara, J. M. P. Gunasekara and T.S. S. Jayawardane, "Recent trends in EMG based control methods for assistive robots" Electrodiagnosis in New Frontiers of Clinical Research, book edited by Hande Turker, ISBN 978-953-51-1118-4, Intech, 2013. [PDF]

  2. R. A. R. C. Gopura and K. Kiguchi,"Application of Surface Electromyographic Signals to Control Exoskeleton Robots," Applications of EMG in Clinical and Sports Medicine, book edited by Catriona Steele, ISBN 978-953-307-798-7, Intech, 2012. [PDF]

Referred Journal Papers

  1. W. N. C. Wanniarachchi, R. A. R. C. Gopura, and H. K. G. Punchihewa, "Development of a Layout Model Suitable for the Food Processing Industry" Journal of Industrial Engineering, 2016 [PDF]

  2. R. A. R. C.  Gopura, D. S. V. Bandara, K. Kiguchi, G. K. I. Mann," Developments in hardware systems of active upper-limb exoskeleton robots: A review, Robotics and Autonomous Systems, vol. 75, Part B, pp. 203-220, 2016 [PDF]

  3. A. L. Kulasekara, K. T. M. U. Hemapala and R. A. R. C. Gopura, "Dual Layered Architecture for Multi Agent Based Islanding and Load Management for Microgrids," Journal of Power and Energy, vol. 3, no. 5, pp. 29-42, 2015. [PDF]

  4. Malin Gunasekara, Ruwan Gopura and Sanath Jayawardena, "6-REXOS: Upper Limb Exoskeleton Robot with Improved pHRI," International Journal of Advanced Robotics Systems, vol. 12, no. 47, pp. 1-13, 2015. [PDF]

  5. W. N. C. Wanniarachchi, R. A. R. C.Gopura and H. K. G. Punchihewa, "A Layout Planning Framework for the Food Processing Industry,"Annual Transactions of Institution of Engineers Sri Lanka,  vol. 1, Part B, 2014, pp. 129-137.

  6. A. L. Kulasekera, K. T. M. U. Hemapala and R. A. R. C.Gopura, "Multi Agent based Islanding  and Load Management System for Microgrids" Annual Transactions of Institution of Engineers Sri Lanka, vol. 1, Part B, 2013, pp. 306-312.

  7. R. A. R. C. Gopura, and T. S. S. Jayawardane, "Analysis, Modeling and Simulation of a Poly-Bag Manufacturing System," Engineering (ENG), vol. 4, no. 5, pp.256-265, 2012.[PDF]

  8. R. A. R. C. Gopura, K. Kiguchi and E. Horikawa, "A Study on Human Upper-Limb Muscles Activities during Daily Upper-Limb Motions," International Journal of Bioelectromagnetism (IJBEM), vol.12, no. 2, pp.54-61, 2010.[PDF]

  9. R. A. R. C. Gopura and K. Kiguchi, "Electromyography (EMG)-Signal Based Fuzzy-Neuro Control of a 3 degrees of freedom (3DOF) Exoskeleton Robot for Human Upper-Limb Motion Assist," Journal of National Science Foundation of Sri Lanka (JNSF), vol. 37, no. 4, pp. 241-248, 2009. [PDF]

  10. R. A. R. C. Gopura and K. Kiguchi, "An Exoskeleton Robot for Human Forearm and Wrist Motion Assist- Hardware Design and EMG-Based Controller," International Journal of Advanced Mechanical Design, Systems, and Manufacturing, vol. 2, no. 6, pp. 1067-1083, 2008. [PDF]

Referred International Conferences

  1. R.A.R.C. Gopura, D.S.V. Bandara, N.P.A. Gunasekera, V.H. Hapuarachchi, B.S. Ariyarathna, "A Prosthetic Hand with Self-Adaptive Fingers," International Conference on Control, Automation and Robotics (ICCAR 2017), Nagoya, Japan, 2017. (Accepted)  

  2. T. H. Weerakkody, N. Liyanaarachchi, H.M.C. Herath, R.A.R.C. Gopura, and T.D. Lalitharatne, “Development of an Active Shoulder Prosthesis with Low-Level Control Validation,” IASTED International Conference on Modelling, Identification and Control (MIC 2017), Innsbruck, Austria, 2017. (Accepted)

  3. H.D.T.G. Samarasinghe, L.L.R. Sampath, H.R.M.M.V.B. Thilakarathna, R.A.R.C. Gopura, T.D. Lalitharathne and Y.W.R. Amarasinghe, “Development of an Automated Microscopic Imaging System for TB Screening,” in Proc. of Electrical Engineering Conference (EECon 2016), Colombo, Sri Lanka, 2016.

  4. D. G. K. Madusanka, R. A. R. C. Gopura, Y. W. R. Amarasinghe and G. K. I. Mann, “Vision Aided Task Planning for Reach-to-grasp Motions of a Transhumeral Prosthesis,” in Proc. of IEEE/SICE International Conference on System Integration (SII 2016), Sapporo, Japan, 2016.

  5. R. Thalagala, D. K. Silva, M. Hasanka, R.K.P.S. Ranaweera and R. A. R. C. Gopura, “A 4 DOF Exoskeleton Robot with a Novel Shoulder Joint Mechanism,” in Proc. of IEEE/SICE International Conference on System Integration (SII 2016), Sapporo, Japan, 2016.

  6.  C.L. Semasinghe, J.L.B. Prassanna, H.M. Kandamby, R.K.P.S. Ranaweera, D.G.K. Madusanka and R.A.R.C. Gopura, “ Transradial Prostheses: Current Status and Future Direction,” in Proc. of Manufacturing & Industrial Engineering Symposium (MIES2016), Colombo, Sri Lanka, 2016

  7. C. J. Perera, I. Naotunna, C. Sadaruwan, R. A. R. C. Gopura and T. D. Lalitharatne," SSVEP Based BMI for a Meal Assistance Robot", in Proc. of IEEE International Conference on Systems man and Cybernetics, Hungary, 2016.

  8. C.J. Perera, I. Naotunna, C. Sandaruwan, N.J. Kelly-Boxall, R.A.R.C. Gopura, and T.D. Lalitharatne, “Electrooculography Signal Based Control of a Meal Assistance Robot,” in Proc. of IASTED International Conference on Biomedical Engineering (BioMed 2016), Innsbruck, Austria, 2016, pp. 133-139.

  9. I. Naotunna, C. J. Perera, C. Sandaruwan, R. A. R. C. Gopura and T. D. Lalitharatne, “Meal Assistance Robots: A Review on Current Status, Challenges and Future Directions,” in Proc. of IEEE/SICE International Conference on System Integration (SII 2015), Nagoya, Japan, 2015, pp. 211-216.

  10. D.G. K. Madusanka, R.A.R.C. Gopura, Y.W.R. Amarasinghe, and G.K.I. Mann, “A Simulation Environment for Control Algorithms of Transhumeral Prostheses,” in Proc. of International Conference on Emerging Trends in Mechanical Engineering (ICETME 2015), Cochin, India,  September 2015, pp. 190–196

  11. D.G.K. Madusanka, L.N.S. Wijayasingha, R.A.R.C. Gopura, Y.W.R. Amarasinghe and G.K.I. Mann, "A Review on Hybrid Myoelectric Control Systems for Upper Limb Prosthesis," in Proc. of Moratuwa Engineering Research Conference (MERCon 2015), Sri Lanka, April, 2015, pp. 136-141.

  12. J.M.P. Gunasekara, R.A.R.C. Gopura and T.S.S. Jayawardena, "Redundant Upper Limb Exoskeleton Robot with Passive Compliance," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2014), Sri Lanka, December, 2014.

  13. D.G.K. Madusanka, L.N.S. Wijayasingha, K. Sanjeevan, M.A.R. Ahamed, J.C.W. Edirisooriya, and  R.A.R.C. Gopura, " A 3DOF Transtibial Robotic Prosthetic Limb," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2014), Sri Lanka, December, 2014.

  14. W.D.I.G. Dasanayake, R.A.R.C. Gopura, V.P.C. Dassanayake, and G.K.I. Mann, " Estimation of Prosthetic Arm Motions using Stump Arm Kinematics," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2014), Sri Lanka, December, 2014.

  15. D.S.V. Bandara, R.A.R.C Gopura, G.Kajanthan, M. Brunthavan and H.I.M.M. Abeynayake, “An Under-actuated Mechanism for a Robotic Finger,” in Proc. of IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems (IEEECyber 2014), China, 2014. pp. 407-412.

  16. D.S.V Bandara, R.A.R.C Gopura, K.T.M.U Hemapala and K. Kiguchi, “A multi-DoF Anthropomorphic Transradial Prosthetic Arm,” in Proc. of IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), Brazil, 2014, pp. 1039-1044. 

  17. J. M. P. Gunasekara, R. A. R. C. Gopura, T.S. S. Jayawardane and G. K. I. Mann, "Dexterity Measure of Upper Limb Exoskeleton Robot with Improved Redundancy," in Proc. of IEEE International Conference on Industrial and Information Systems (ICIIS 2013), Peradeniya, Sri Lanka, 2013, pp. 548-553.

  18. W. D. I. G. Dasanayake, R. A. R. C. Gopura, V. P. C. Dassanayake and G.K.I. Mann, "Surface EMG Signals based elbow joint Torque Prediction," in Proc. of IEEE International Conference on Industrial and Information Systems (ICIIS 2013), Peradeniya, Sri Lanka, 2013, pp. 110-115.

  19. J. M. P. Gunasekara, R. A. R. C. Gopura, T. S. S. Jayawardana and S.W.H.M.T.D. Lalitharathne, " Control Methodologies for Upper-Limb Exoskeleton Robots," in Proc. of IEEE/SICE International Conference on System Integration (SII 2012), Fukuoka, Japan, 2012, pp. 19-24.

  20. A. L. Kulasekera, K. T. M. U. Hemapala and R. A. R. C.Gopura, "Dual layered multi agent system for load management during islanded operation of a microgrid," in Proc. of Fifth IASTED Asian Conference on Power and Energy Systems (AsiaPES 2012), Phuket, Thailand, 2012, pp. 255-259.

  21. W. D. S. Roshan, R. A. R. C.Gopura, A. G. B. P. Jayasekara, and D. S. V. Bandara "Financial Market Forecasting by Integrating Wavelet Transform and K-means Clustering with Support Vector Machine," in Proc. of International Conference on Artificial Life and Robotics (AROB 2012), Beppu, Japan, 2012, pp. 1017-1020. [PDF]

  22. A. L. Kulasekera, R. A. R. C.Gopura, K. T. M. U. Hemapala, N. Perera, and Achala Pallegedara,"Dual Layered Multi Agent System for Intentional Islanding Operation of Microgrids," in Proc. of International Conference on Artificial Life and Robotics (AROB 2012), Beppu, Japan, 2012, pp. 994-947.

  23. D. S. V. Bandara, R. A. R. C.Gopura, K. T. M. U. Hemapala and K. Kiguchi "Upper Extremity Prosthetics: Current Status, Challenges and Future Directions," in Proc. of International Conference on Artificial Life and Robotics (AROB 2012), Beppu, Japan, 2012, 875-880.

  24. A. L. Kulasekera, R. A. R. C.Gopura, K. T. M. U. Hemapala and N. Perera, "A Review on Multi-Agent Systems in Microgrid Applications," in Proc. of IEEE PES Innovative Smart Grid Technologies Conference (ISGT 2011), India, 2011, pp. 173-177.

  25. R. A. R. C.Gopura, K. Kiguchi and D. S. V. Bandara, "A Brief Review on Upper Extremity Robotic Exoskeleton Systems," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2011), Peradeniya, Sri Lanka, 2011, pp. 346-351.

  26. W. D. S. Roshan, R. A. R. C.Gopura, and A. G. B. P. Jayasekara, "Financial Forecasting Based on Artificial Neural Networks: Promising Directions for Modeling," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2011), Peradeniya, Sri Lanka, 2011. pp. 322-327.

  27. K. Kiguchi, R. A. R. C. Gopura, Y. Li, and Y. Hayashi, "The Effect of Impedance Parameters in 7DOF Upper-Limb Power-Assist Exoskeleton Robot," in Proc. of t he Asian Conference on Mechanism and Machine (IFToMM 2010), Taipei, Taiwan, 2010, Paper ID:250139. [PDF]

  28. R. A. R. C. Gopura and T. S. S. Jayawardene, "A Study on a Poly-Bag Manufacturing System: Preliminary Analysis and Simulation," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2009), Peradeniya, Sri Lanka, 2009. pp. 546 - 551.

  29. R. A. R. C. Gopura, K. Kiguchi and E. Horikawa, “A Study on Human Upper-Limb Muscles Activities during Daily Upper-Limb Motions,” in Proc. of International Symposium on Noninvasive Functional Source Imaging of the Brain and Heart & International Conference on Bioelectromagnetism (NFSI & ICBEM 2009), Rome, Italy, 2009, Paper ID: 02.

  30.  R. A. R. C. Gopura , K. Kiguchi and Y. Li, "SUEFUL-7: A 7DOF Upper-Limb Exoskeleton Robot with Muscle-Model-Oriented EMG-Based Control," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2009), St. Louis, MO, USA, 2009. pp. 1126-1131.

  31. R. A. R. C. Gopura and K. Kiguchi, "Mechanical Designs of Active Upper-Limb Exoskeleton Robots: State-of-the-Art and Design Difficulties," in Proc. of IEEE International Conference on Rehabilitation Robotics (ICORR 2009), Kyoto, Japan, 2009, pp. 178-187.

  32. R. A. R. C. Gopura and K. Kiguchi, "Development of a 6DOF Exoskeleton Robot for Human Upper-Limb Motion Assist," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2008), Colombo, Sri Lanka, 2008, pp. 13-18. (Best student paper)

  33. R. A. R. C. Gopura and K. Kiguchi, "A Human Forearm and Wrist Motion Assist Exoskeleton Robot with EMG-Based Fuzzy-Neuro Control," in Proc. of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, USA, 2008, pp. 550-555.

  34. R. A. R. C. Gopura and K. Kiguchi, "EMG-Based Control of an Exoskeleton Robot for Human Forearm and Wrist Motion Assist," in Proc. of IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, USA, 2008, pp. 731-736.

  35. R. A. R. C. Gopura and K. Kiguchi, "Development of an Exoskeleton Robot for Human Wrist and Forearm Motion Assist," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2007), Peradeniya, Sri Lanka, 2007, pp. 535-540.

  36. E. A. S. K. Fernando, R. A. R. C. Gopura and J. M. P. Gunasekara, "Cost Effective System for Weft Tension Control and Wastage Disposal in Rapier Loom," in Proc. of 85th Textile Institute World Conference (TIWC 2007), Colombo, Sri Lanka, 2007, Paper ID: 132.

  37. A. Pallegedara, W. S. Amarathunge, R. A. R. C. Gopura and P.D. Jayathileka, "AI Based Approach of Predicting the Credit Limits of Users to Middle Customer based Mobile Communication Services," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2006), Peradeniya, Sri Lanka, 2006, pp. 588-592.

   Abstracts in Local Conferences

   Ruwan Gopura has authored 22 abstracts in local conferences in Japan and Sri Lanka from 2006 to date. 

Ongoing Research

•    Vision Aided Task Planning and Control of a Trans-humeral Robotic Prosthetic Arm- PhD

•    Development and Control of a Lower-Limb Power Assist Exoskeleton Robot and Adaptive Control Methodology to Nullify Environmental Disturbances - PhD

•    Controlling of a Trans-humeral Prosthetic Arm in Accordance with Human Motion Intention - MPhil

•    Kinematics Model of an Upper-Limb Exoskeleton Robot with Physical Compliance – MSc

•    Development of a Trans-femoral Prosthetic Device - MSc

•    Development of a Robotic Ortho-Prosthesis for Trans-humeral Amputees - MSc
 

Other Details