@conference {546, title = {Effects of wearing an upper extremity exoskeleton on measuring joint kinematics during standardized clinical assessment tasks}, booktitle = {2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2024}, publisher = {IEEE}, organization = {IEEE}, author = {Hong, Yoon No Gregory and Kim, Kyoungsoon and Deshpande, Ashish D and Roh, Jinsook} } @conference {547, title = {A Novel Velocity-Based Controller to Avoid Synergistic Movement After Stroke}, booktitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, year = {2024}, publisher = {IEEE}, organization = {IEEE}, author = {Scott, Isaiah and Rose, Chad G and Deshpande, Ashish D} } @conference {533, title = {Characterizing the Onset and Offset of Motor Imagery During Passive Arm Movements Induced by an Upper-Body Exoskeleton}, booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2023}, month = {Oct}, abstract = {

Two distinct technologies have gained attention lately due to their prospects for motor rehabilitation: robotics and brain-machine interfaces (BMIs). Harnessing their combined efforts is a largely uncharted and promising direction that has immense clinical potential. However, a significant challenge is whether motor intentions from the user can be accurately detected using non-invasive BMIs in the presence of instrumental noise and passive movements induced by the rehabilitation exoskeleton. As an alternative to the straight-forward continuous control approach, this study instead aims to characterize the onset and offset of motor imagery during passive arm movements induced by an upper-body exoskeleton to allow for the natural control (initiation and termination) of functional movements. Ten participants were recruited to perform kinesthetic motor imagery (MI) of the right arm while attached to the robot, simultaneously cued with LEDs indicating the initiation and termination of a goal-oriented reaching task. Using electroencephalogram signals, we built a decoder to detect the transition between i) rest and beginning MI and ii) maintaining and ending MI. Offline decoder evaluation achieved group average onset accuracy of 60.7\% and 66.6\% for offset accuracy, revealing that the start and stop of MI could be identified while attached to the robot. Furthermore, pseudo-online evaluation could replicate this performance, forecasting reliable online exoskeleton control in the future. Our approach showed that participants could produce quality and reliable sensorimotor rhythms regardless of noise or passive arm movements induced by wearing the exoskeleton, which opens new possibilities for BMI control of assistive devices.

}, keywords = {Decoding, Exoskeletons, Light emitting diodes, Manipulators, Neurorehabilitation, Performance evaluation, Robot sensing systems}, doi = {10.1109/IROS55552.2023.10342492}, author = {Mitra, Kanishka and Racz, Frigyes Samuel and Kumar, Satyam and Deshpande, Ashish D. and Del R. Mill{\'a}n, Jos{\'e}} } @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 = {

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.

}, 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 {527, title = {Impact of Gravity Compensation on Upper Extremity Movements in Harmony Exoskeleton}, booktitle = {2022 International Conference on Rehabilitation Robotics (ICORR)}, year = {2022}, month = {July}, abstract = {

Robots have been used to offset the limb weight through gravity compensation in upper body rehabilitation to delineate the effects of loss of strength and loss of dexterity, which are two common forms of post-stroke impairments. In this paper, we explored the impact of this anti-gravity support on the quality of movement during reaching and coordinated arm movements in a pilot study with two participants with chronic stroke. The subjects donned the Harmony exoskeleton which supported proper shoulder coordination in addition to providing gravity compensation. Participants had previously taken part in seven one-hour sessions with the Harmony exoskeleton, performing six sets of passive-stretching and active exercises. Pre- and post-training sessions included assessments of two separate tasks, planar reaching and a set of six coordinated arm movements, in two conditions, outside of and supported by the exoskeleton. The movements were recorded using an optical motion capture system and analyzed using spectral arc length (SPARC) and straight line deviation to quantify movement smoothness and quality. We observed that gravity compensation resulted in an increased smoothness for the subject with high level of impairment whereas compensation resulted in a reduction in smoothness for the subject with low level of impairment in the reaching task. Both participants demonstrated better coordination of the shoulder-arm joint with gravity compensation. This result motivates further studies into the role of gravity compensation during coordinated movement training and rehabilitation interventions.

}, keywords = {Exoskeletons, Neural pathways, Optical feedback, Optical recording, Robot kinematics, Shoulder, Training}, doi = {10.1109/ICORR55369.2022.9896415}, author = {Hailey, Rhet O. and De Oliveira, Ana C. and Ghonasgi, Keya and Whitford, Bob and Lee, Robert K. and Rose, Chad G. and Deshpande, Ashish D.} } @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 {468, title = {An Anthropomorphic Passive Instrumented Hand for Validating Wearable Robotic Systems}, booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, year = {2021}, author = {Avinash Baskaran and Paria Esmatloo and Matthew Times and Ashish Deshpande and Chad G. Rose} } @conference {465, title = {Design and Validation of a Novel Exoskeleton Hand Interface: The Eminence Grip}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2021}, author = {Keya Ghonasgi and Chad G. Rose and Ana C. de Oliveira and Rohit J. Varghese and Ashish D. Deshpande} } @article {470, title = {The Road Forward for Upper Extremity Rehabilitation Robotics}, journal = {Current Opinion in Biomedical Engineering}, year = {2021}, abstract = {

Despite concerted efforts over the last three decades, upper-extremity robotic rehabilitation has yet to reach its full potential. We assert that assuming the goal of robotic rehabilitation is to automate conventional therapy may have led to overly narrow research directions and to mixed results from clinical studies. Recontextualizing this assumption opens promising research avenues for roboticists. Breaking the robotic device design loop and instead seeking out {\textquoteleft}big data{\textquoteright} opportunities has the potential to identify promising robot-mediated interventions. This will require a shift in roboticists{\textquoteright} attitudes towards participating in neuroscience and clinical research. By expanding assessment beyond kinematics, robotic devices can provide clinicians with a more complete picture of impairment and recovery. We discuss the current assumptions in greater detail, and point towards promising research in these revised directions.

}, issn = {ISSN 2468-4511}, author = {Chad G. Rose and Ashish D. Deshpande and Jacob Carducci and Jeremy D.Brown} } @conference {449, title = {Design and Validation of a Sensorized Physical Human-Robot Interface for Distributed Force Measurement}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Ergonomic Human-Robot Collaboration: Opportunities and Challenges}, year = {2020}, author = {Keya Ghonasgi and Saad N. Yousaf and Paria Esmatloo and Ruth Heckler and Job Ramirez and Chad G. Rose and Ashish D. Deshpande} } @conference {411, title = {Estimating the Effect of Robotic Intervention on Elbow Joint Motion}, booktitle = { IEEE International Symposium on Robot and Human Interactive Communication }, year = {2019}, month = {09/2019}, author = {Keya Ghonasgi and Ana C. de Oliveira and Anna Shafer and Chad G. Rose and Ashish D. Deshpande} } @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 {370, title = {Analyzing and Improving Cartesian Stiffness Control Stability of Series Elastic Tendon-driven Robotic Hands}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2018}, author = {Rao, P. and Deshpande, A.D.} } @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 {383, title = {Methodology of an Inverse Kinematic Model for Estimating Shoulder Girdle Angles without Acromial Sensing}, booktitle = {48th International Conference on Environmental Systems}, year = {2018}, author = {Ogden, Evan M and Deshpande, Ashish D and Rajulu, Sudhakar L} } @conference {316, title = {Analyzing Achievable Stiffness Control Bounds of Robotic Hands With Compliantly Coupled Finger Joints}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2017}, author = {Prashant Rao and Gray C. Thomas and Luis Sentis and Ashish D. Deshpande} } @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 {349, title = {Estimating Anatomical Wrist Joint Motion with a Robotic Exoskeleton}, booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, author = {Rose, C. G. and Kann, C. K. 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 {rose2015characterization, title = {Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks}, booktitle = {Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on}, year = {2015}, pages = {205{\textendash}210}, publisher = {IEEE}, organization = {IEEE}, author = {Rose, Chad G. and Sergi, Fabrizio and Yun, Youngmok and Madden, Kaci E. and Deshpande, A.D. and O{\textquoteright}Malley, Marcia K.} } @article {niehues2015compliance, title = {Compliance in parallel to actuators for improving stability of robotic hands during grasping and manipulation}, journal = {The International Journal of Robotics Research}, volume = {34}, year = {2015}, pages = {0278364914558016}, publisher = {SAGE Publications}, chapter = {256}, author = {Niehues, Taylor D. and Rao, Prashant and Deshpande, A.D.} } @conference {317, title = {Effect of Parallel Compliance on Stability of Robotic Hands With Series Elastic Actuators}, booktitle = {ASME Dynamic Systems and Controls Conference (DSCC)}, year = {2015}, month = {10/2015}, author = {Prashant Rao and Taylor D. Niehues and Ashish D. Deshpande} } @conference {Kim:DSCC:2014, title = {Impedance Control Based on a Position Sensor in a Rehabilitation Robot}, booktitle = {ASME Dynamic Systems and Control Conference (DSCC)}, year = {2014}, author = {Kim, Bongsu and Rodot, Aurelien and Deshpande, A.D.} } @conference {rao2012effects, title = {Effects of moment arm variations on the joint stiffness characteristics of a musculo-tendon driven joint}, booktitle = {ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference}, year = {2012}, pages = {473{\textendash}482}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Rao, Prashant and Deshpande, Ashish D.} } @article {Deshpande:AIEDAM:2006, title = {Intelligent Strategies for the Application of the Constraint Dominance Methods: Demonstration with Linear Motor Design Problem}, journal = {Artificial Intelligence for Engineering Design, Analysis and Manufacturing (AIEDAM), Special Issue on Constraints and Design}, volume = {20}, year = {2006}, pages = {383{\textendash}397}, author = {Deshpande, Ashish D. and Rinderle, James R.} } @conference {Rinderle2003, title = {Constraint Dominance Determination Methods}, booktitle = {ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference}, year = {2003}, pages = {553{\textendash}563}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Rinderle, James R. and Deshpande, Ashish D.} } @conference {Deshpande2003b, title = {Constraint Dominance Methods Applied to the Design of a Linear Synchronous Motor}, booktitle = {International Design Engineering Technical Conference}, year = {2003}, author = {Deshpande, Ashish D. and Rinderle, James R.} }