@conference {531,
	title = {An Extended Virtual Proxy Haptic Algorithm for Dexterous Manipulation in Virtual Environments},
	booktitle = {2023 IEEE World Haptics Conference (WHC)},
	year = {2023},
	month = {July},
	abstract = {<p>With the evolution of hand-based haptic interfaces, novel forms of controlled force feedback arise allowing multipoint interaction between virtual objects and the hand{\textquoteright}s digits. With these advances, there must be an effective force display coupled with an intuitive visualization of the hand at its points of high manipulability. This is the basis for dexterous manipulation immersion in virtual environments. Still, there are challenges due to the complexity of force interaction, bandwidth limitations, and redundant visual configurations. In this paper, we present an extended proxy algorithm for digit-based interactions, which through configuration-based optimization, provides an efficient, robust, and visually plausible way to interact with virtual objects with a virtual hand. Additionally, we revisit a seldom-seen modality of haptic rendering, whole-hand kinesthetic feedback, with the Maestro exoskeleton in the implementation of our algorithm. We unify these methods and develop a CHAI3D module in a comprehensive visuo-haptic framework that was evaluated through demonstrations of joint-level haptic force data during interaction with static and dynamic objects alike. Our computationally-efficient approach sets the foundation for the visual display of in-hand virtual object manipulation with the effective rendering of stable haptic interactions under complex tasks.</p>
},
	keywords = {Exoskeleton, Exoskeletons, Force, Force feedback, Haptics, Heuristic algorithms, Rendering (computer graphics), Simulation, Virtual environments, Virtual Reality, Visualization},
	doi = {10.1109/WHC56415.2023.10224434},
	author = {Galvan, Aldo F. and Ramirez, Job D. and Deshpande, Ashish D. and Fey, Ann Majewicz}
}
@conference {526,
	title = {SCAPE: Learning Stiffness Control from Augmented Position Control Experiences},
	booktitle = {Proceedings of the 5th Conference on Robot Learning},
	year = {2022},
	month = {08{\textendash}11 Nov},
	publisher = {PMLR},
	organization = {PMLR},
	abstract = {<p>We introduce a sample-efficient method for learning state-dependent stiffness control policies for dexterous manipulation. The ability to control stiffness facilitates safe and reliable manipulation by providing compliance and robustness to uncertainties. Most current reinforcement learning approaches to achieve robotic manipulation have exclusively focused on position control, often due to the difficulty of learning high-dimensional stiffness control policies. This difficulty can be partially mitigated via policy guidance such as imitation learning. However, expert stiffness control demonstrations are often expensive or infeasible to record. Therefore, we present an approach to learn Stiffness Control from Augmented Position control Experiences (SCAPE) that bypasses this difficulty by transforming position control demonstrations into approximate, suboptimal stiffness control demonstrations. Then, the suboptimality of the augmented demonstrations is addressed by using complementary techniques that help the agent safely learn from both the demonstrations and reinforcement learning. By using simulation tools and experiments on a robotic testbed, we show that the proposed approach efficiently learns safe manipulation policies and outperforms learned position control policies and several other baseline learning algorithms.</p>
},
	url = {https://proceedings.mlr.press/v164/kim22b.html},
	author = {Kim, Mincheol and Niekum, Scott and Deshpande, Ashish D.},
	editor = {Faust, Aleksandra and Hsu, David and Neumann, Gerhard}
}
@article {300,
	title = {Design, Control and Testing of a Thumb Exoskeleton with Series Elastic Actuation},
	journal = {International Journal of Robotics Research},
	year = {2017},
	keywords = {Exoskeleton, Hand, Thumb},
	author = {Priyanshu Agarwal and Youngmok Yun and Jonas Fox and Kaci E. Madden and Ashish D. Deshpande}
}
@conference {289,
	title = {Accurate Torque Control of Finger Joints with UT Hand Exoskeleton through Bowden Cable SEA},
	booktitle = {IEEE International Conference on Robotics and Automation (IROS)},
	year = {2016},
	author = {Youngmok Yun and Agarwal, P. and Fox, Jonas and Madden, K.E. and Deshpande, A.D.}
}
@conference {286,
	title = {Assist-As-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation},
	booktitle = {Dynamic Systems and Control Conference (DSCC)},
	year = {2015},
	author = {Agarwal, P. and Fernandez, B. and Deshpande, A.D.}
}
@article {285,
	title = {An Index Finger Exoskeleton with Series Elastic Actuation for Rehabilitation: Design, Control and Performance Characterization},
	journal = {International Journal of Robotics Research (IJRR)},
	volume = {34},
	year = {2015},
	chapter = {1747},
	author = {Agarwal, P. and Fox, Jonas and Yun, Y. and O{\textquoteright}Malley, M.K. and Deshpande, A.D.}
}
@article {deshpande2013control,
	title = {Control strategies for the index finger of a tendon-driven hand},
	journal = {The International Journal of Robotics Research},
	volume = {32},
	number = {1},
	year = {2013},
	pages = {115{\textendash}128},
	publisher = {SAGE Publications},
	author = {Deshpande, Ashish D. and Ko, Jonathan and Fox, Dieter and Matsuoka, Yoky}
}
@conference {deshpande2009act,
	title = {ACT hand finger control: muscle and joint torque control strategies},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2009},
	author = {Deshpande, Ashish D. and Ko, Jonathan and Fox, Dieter and Matsuoka, Yoky}
}
