@article {499, title = {Human-Like Endtip Stiffness Modulation Inspires Dexterous Manipulation With Robotic Hands}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {30}, year = {2022}, author = {Anna Shafer and Ashish D. Deshpande} } @article {460, title = {Assessment of Upper-extremity Joint Angles using Harmony Exoskeleton}, journal = { IEEE Transactions on Neural Systems and Rehabilitation Engineering}, year = {2021}, issn = {1558-0210}, author = {Ana C. de Oliveira and James S. Sulzer and Ashish D. Deshpande} } @conference {473, title = {Capturing Skill State in Curriculum Learning for Human Skill Acquisition}, booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)}, year = {2021}, author = {Keya Ghonasgi and Reuth Mirsky and Sanmit Narvekar and Bharath Masetty and Adrian Haith and Peter Stone and Ashish Deshpande} } @conference {469, title = {Is the Cerebellum a Model-Based Reinforcement Learning Agent?}, booktitle = {Adaptive and Learning Agents (ALA) Workshop at the International Conference on Autonomous Agents and Multiagent Systems}, year = {2021}, author = {Bharath Masetty and Reuth Mirsky and Ashish D. Deshpande and Michael Mauk and Peter Stone} } @article {448, title = {Improvement of Hand Functions of SCI Patients with EMG-driven Hand Exoskeleton: a Feasibility Study}, journal = {Wearable Technologies}, year = {2021}, abstract = {

We have developed a one-of-a-kind hand exoskeleton, called Maestro, which can power finger movements of those surviving severe disabilities to complete daily tasks using compliant joints. In this paper, we present results from a practical EMG control strategy conducted with spinal cord injury (SCI) patients (C5, C6 and C7) in which the subjects completed daily tasks controlling Maestro with electromyography (EMG) signals from their forearm muscles. With its compliant actuation and its degrees of freedom (DOF) that match the natural finger movements, Maestro is capable of helping the subjects grasp and manipulate a variety of daily objects (more than 15 from a standardized set). To generate control commands for Maestro, an artificial neural network algorithm was implemented along with a probabilistic control approach to classify and deliver four hand poses robustly with three EMG signals measured from the forearm and palm. Increase in the scores of a standardized test, called the Sollerman hand function test (SHFT), and enhancement in different aspects of grasping such as strength shows feasibility that Maestro can be capable of improving the hand function of SCI subjects.

}, author = {Youngmok Yun and Youngjin Na and Paria Esmatloo and Sarah Dancausse and Alfredo Serrato and Curtis A. Merring and Priyanshu Agarwal and Ashish D. Deshpande} } @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 {427, title = {Human-like Endtip Stiffness Modulation for Stable, Dexterous Manipulation}, booktitle = {8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020)}, year = {2020}, author = {Anna Shafer and Ashish D. Deshpande} } @conference {396, title = {Effort Estimation in Robot-aided Training with a Neural Network}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2019}, author = {de Oliveira, Ana C and Warburton, Kevin and Sulzer, James and Deshpande, Ashish D} } @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} } @article {377, title = {Design of an Underactuated, Adaptable Electromechanical Gait Trainer for People with Neurological Injury}, journal = {Journal of Mechanisms and Robotics}, year = {2018}, author = {S. Y. Shin and Deshpande, A. and Sulzer, J.} } @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 {381, title = {Arm kinematics estimation with the Harmony exoskeleton}, booktitle = {2017 International Symposium on Wearable Robotics and Rehabilitation (WeRob)}, year = {2017}, author = {de Oliveira, Ana C and Warburton, Kevin and Yun, Youngmok and Ogden, Evan M and Sulzer, James and Deshpande, Ashish D} } @conference {319, title = {An EMG-Driven Assistive Hand Exoskeleton for Spinal Cord Injury Patients: Maestro}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2017}, author = {Youngmok Yun and Sarah Dancausse and Paria Esmatloo and Alfredo Serrato and Curtis A. Merring and Ashish D. Deshpande} } @conference {334, title = {Methodologies for determining minimal grasping requirements and sensor locations for sEMG-based assistive hand orthosis for SCI patients}, booktitle = {IEEE International Conference of Rehabilitation Robotics (ICORR)}, year = {2017}, author = {Youngmok Yun and Paria Esmatloo and Alfredo Serrato and Curtis A. Merring and Ashish D. Deshpande} } @conference {382, title = {Mirrored movement therapy using an upper body robotic exoskeleton for stroke}, booktitle = {2017 International Symposium on Wearable Robotics and Rehabilitation (WeRob)}, year = {2017}, author = {Warburton, Kevin and de Oliveira, Ana C and Ogden, Evan M and Yun, Youngmok and Sulzer, James and Deshpande, Ashish D} } @conference {325, title = {BloomBot, a Creative and Autonomous Land Art Robot}, booktitle = {IEEE International Conference on Robotics and Automation (IROS)}, year = {2016}, author = {James Sham and Mark L. Jennings and Ashish D. Deshpande} } @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 {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} } @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} }