This group is led by Dr. Harsha Abeykoon who is attached to the Dept. of Industrial Systems Engineering of the AIT. This research group focuses on precise motion control technologies which are essential in robotics. We commonly use Reaction Torque Observer (RTOB) and Disturbance Observer (DOB) to achieve robust motion control. We have successfully developed and applied motion control techniques to tele-operation, rehabilitation, vehicle stability control and mobile robot navigational applications. We hope to expand the horizons of research for the betterment of the society.

Current Research Interests

  • Deep learning for haptics sensation
  • Haptics- sensorless force sensing and control
  • Active haptic steering wheel Haptics- virtual forces / force rendering
  • Sensor fusion and mobile robots
  • Biomedical robotics
  • Advanced motion control
  • Bilateral Tele-operation
  • Vibration Suppression
  • Virtual haptic feedback
  • Motion parameter estimation
  • Haptics for Vehicular Technology

Selected Publications

  1. M. Harsha S. Abeykoon, and R.M. Maheshi Ruwanthika*. “Remote Gripping for Effective Bilateral Teleoperation.” Handbook of Research on Human-Computer Interfaces, Developments, and Applications. IGI Global, 2016. 99-134. Web. 4 Jul. 2016. doi:10.4018/978-1-5225-0435-1.ch005
  2. Trakanchaiyo*, A. M. Harsha and S. Abeykoon, “Vibration suppression design for virtual compliance control in bilateral teleoperation,” 2017 2nd International Conference on Control and Robotics Engineering (ICCRE), Bangkok, Thailand, 2017, pp. 57-62. doi: 10.1109/ICCRE.2017.7935042
  3. A. D. Harischandra* and A. M. H. S. Abeykoon, “Development of an upper limb master-slave robot for bimanual rehabilitation,” 2017 Moratuwa Engineering Research Conference (MERCon), Moratuwa, 2017, pp. 52-57. doi: 10.1109/MERCon.2017.7980455
  4. K. Das*, P. A. D. Harischandra* and A. M. H. S. Abeykoon, “Extended Kalman Filter based fusion of reliable sensors using fuzzy logic,” 2017 Moratuwa Engineering Research Conference (MERCon), Moratuwa, 2017, pp. 58-63. doi: 10.1109/MERCon.2017.7980456

*Master student

Contact: Dr. Harsha Abeykoon, <>

Location: 116A-B