@conference {548,
	title = {BaRiFlex: A robotic gripper with versatility and collision robustness for robot learning},
	booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2024},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Jeong, Gu-Cheol and Bahety, Arpit and Pedraza, Gabriel and Deshpande, Ashish D and Mart{\'\i}n-Mart{\'\i}n, Roberto}
}
@article {545,
	title = {Kinematic Performance of a Customizable Single Degree-of-Freedom Gait Trainer for Cost-Effective Therapy Aimed at Neuromuscular Impairments},
	journal = {Journal of Medical Devices},
	volume = {18},
	year = {2024},
	pages = {011003},
	author = {Jadav, Shail and Karvaje, Karthik Subramanya and Kadam, Sujay D and Vashista, Vineet and Sulzer, James and Deshpande, Ashish and Palanthandalam-Madapusi, Harish J}
}
@booklet {536,
	title = {BaRiFlex: A Robotic Gripper with Versatility and Collision Robustness for Robot Learning},
	year = {2023},
	abstract = {<p><span>We present a new approach to robot hand design specifically suited for successfully implementing robot learning methods to accomplish tasks in daily human environments. We introduce BaRiFlex, an innovative gripper design that alleviates the issues caused by unexpected contact and collisions during robot learning, offering robustness, grasping versatility, task versatility, and simplicity to the learning processes. This achievement is enabled by the incorporation of low-inertia actuators, providing high Back-drivability, and the strategic combination of Rigid and Flexible materials which enhances versatility and the gripper{\textquoteright}s resilience against unpredicted collisions. Furthermore, the integration of flexible Fin-Ray linkages and rigid linkages allows the gripper to execute compliant grasping and precise pinching. We conducted rigorous performance tests to characterize the novel gripper{\textquoteright}s compliance, durability, grasping and task versatility, and precision. We also integrated the BaRiFlex with a 7 Degree of Freedom (DoF) Franka Emika{\textquoteright}s Panda robotic arm to evaluate its capacity to support a trial-and-error (reinforcement learning) training procedure. The results of our experimental study are then compared to those obtained using the original rigid Franka Hand and a reference Fin-Ray soft gripper, demonstrating the superior capabilities and advantages of our developed gripper system.</span></p>
},
	url = {https://arxiv.org/abs/2312.05323},
	author = {Gu-Cheol Jeong and Arpit Bahety and Gabriel Pedraza and Ashish D. Deshpande and Roberto Mart{\'\i}n-Mart{\'\i}n}
}
@article {379,
	title = {Assessing Wrist Movement with Robotic Devices},
	journal = {IEEE Transactions on Neural Systems \& Rehabilitation Engineering},
	year = {2018},
	author = {Chad G. Rose and Evan Pezent and Claudia K. Kanny and Ashish D. Deshpande and Marcia K. O{\textquoteright}Malley}
}
@conference {348,
	title = {Design and Characterization of a Robotics Exoskeletal Device for Hand-Wrist Rehabilitation},
	booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR)},
	year = {2017},
	author = {Pezent, E. and Rose, C. G. and Deshpande, A. D. and O{\textquoteright}Malley, M. K.}
}
@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.}
}
@conference {deshpande2007control,
	title = {Control strategies and design guidelines for planar latch-less metamorphic robots based on analysis of dynamics},
	booktitle = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on},
	year = {2007},
	pages = {4089{\textendash}4095},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Deshpande, Ashish D. and Srinivasa, Siddhartha S. and Pillai, Padmanabhan}
}
