@conference {496, title = {Impact of Gravity Compensation on Upper Extremity Movements in Harmony Exoskeleton}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2022}, author = {Rhet O. Hailey and Ana C. de Oliveira and Keya Ghonasgi and R. Whitford and R. Lee and Chad G. Rose and Ashish D. Deshpande} } @conference {474, title = {Analytical Design of a Pneumatic Elastomer Robot with Deterministically Adjusted Stiffness}, booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)}, year = {2021}, author = {Uksang Yoo and Yang Liu and Ashish Deshpande and Farshid Alambeigi} } @article {453, title = {Kinematic comparison of single degree-of-freedom robotic gait trainers}, journal = {Mechanism and Machine Theory}, year = {2021}, abstract = {

Single degree-of-freedom mechanized gait trainers employing linkage mechanisms
can imitate the gait trajectory of the human user at a potentially lower cost than current
commercial solutions. Our goal was to evaluate recently introduced four-, six- and
eight-bar designs from the standpoint of kinematics, that is, the ability to follow a
natural gait pattern. Based on gait database of 113 healthy individuals, we synthesized
mechanisms allowing two link length adjustments and compared trajectory and path

accuracy of the ankle across mechanisms. We used cross-validation to obtain data-
independent accuracy. We used gait trajectories from a large human database and

predicted additional trajectories to represent effects of varying heights and speeds. We
found that trajectory error was significantly lower in the eight-bar mechanism (3.77 {\textpm}
0.17 cm, mean {\textpm} SD) than the four- (6.84 {\textpm} 0.37 cm) and six-bar (7.15 {\textpm} 0.48 cm)

configurations (p\<0.0001). However, we did not observe differences in time-
independent path error between configurations, or in mechanical advantage (p\>0.05).

We conclude that the eight-bar configuration is best when the mechanism is tied to a
constant velocity actuator, whereas the four-bar mechanism performs as well if the
actuator is well-controlled.

}, author = {Jeonghwan Lee and Lailu Li and Sung Yul Shin and Ashish D. Deshpande and James Sulzer} } @conference {397, title = {Exploring the Capabilities of Harmony for Upper-Limb Stroke Therapy}, booktitle = {IEEE International Conference on Rehabilitation Robotics}, year = {2019}, author = {de Oliveira, Ana C and Rose, Chad G. and Warburton, Kevin and Ogden, Evan M. and Whitford, B. and Lee, R.K. and Deshpande, A.D.} } @conference {350, title = {The Influence of Robotic Assistance on Reducing Neuromuscular Effort and Fatigue during Extravehicular Activity Glove Use}, booktitle = {International Conference on Environmental Systems (ICES)}, year = {2017}, month = {07/2017}, author = {Madden, Kaci E. and Deshpande, Ashish D. and Peters, Benjamin J. and Rogers, Jonathan M. and Laske, Evan A. and McBryan, Emily R.} } @article {yun2014statistical, title = {Statistical method for prediction of gait kinematics with Gaussian process regression}, journal = {Journal of Biomechanics}, volume = {47}, number = {1}, year = {2014}, pages = {186{\textendash}192}, publisher = {Elsevier}, author = {Yun, Youngmok and Kim, Hyun-Chul and Shin, Sung Yul and Lee, Junwon and Deshpande, Ashish D. and Kim, Changhwan} } @article {deshpande2009methodology, title = {A methodology for design and analysis of cooperative behaviors with mobile robots}, journal = {Autonomous Robots}, volume = {27}, number = {3}, year = {2009}, pages = {261{\textendash}276}, publisher = {Springer}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2008human, title = {Human motion modeling with a robotics method: analysis of a person riding a bus}, booktitle = {ASME 2008 Dynamic Systems and Control Conference}, year = {2008}, pages = {647{\textendash}652}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2008understanding, title = {Understanding variable moment arms for the index finger MCP joints through the ACT hand}, booktitle = {Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS \& EMBS International Conference on}, year = {2008}, pages = {776{\textendash}782}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Balasubramanian, Ravi and Lin, Ralph and Dellon, Brian and Matsuoka, Yoky} } @article {deshpande2007behaviors, title = {Behaviors for physical cooperation between robots for mobility improvement}, journal = {Autonomous Robots}, volume = {23}, number = {4}, year = {2007}, pages = {259{\textendash}274}, publisher = {Springer}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2007method, title = {A method to characterize and exploit actuation redundancy in mobility and manipulation}, booktitle = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on}, year = {2007}, pages = {3515{\textendash}3521}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2007methodology, title = {A methodology for kinematics and dynamics analysis of robotic systems internal actuation}, booktitle = {ASME 2007 International Mechanical Engineering Congress and Exposition}, year = {2007}, pages = {1361{\textendash}1367}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2006behaviors, title = {Behaviors for Physical Cooperation Between Robots for Mobility Improvement: Hardware Results and Use of Dynamics}, booktitle = {Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on}, year = {2006}, pages = {2212{\textendash}2218}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {Deshpande-RSS-06, title = {Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2006}, month = {August}, address = {Philadelphia, USA}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @article {deshpande2006unified, title = {A unified framework to represent physically cooperating mobile robots and other robotic systems}, journal = {Robotics Science and System}, year = {2006}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {Deshpande2003a, title = {Decentralized control for a team of physically cooperating robots}, booktitle = {Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on}, volume = {2}, year = {2003}, pages = {1757{\textendash}1762}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {Deshpande2003, title = {Enhancing mobility of a group of mobile robots via physical co-operation among the robots}, booktitle = {Proceedings of SPIE conference on unmanned ground vehicle technology V}, year = {2003}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} }