@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 = {<p>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.</p>
},
	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 {niehues2014cartesian,
	title = {Cartesian-space control and dextrous manipulation for multi-fingered tendon-driven hand},
	booktitle = {Robotics and Automation (ICRA), 2014 IEEE International Conference on},
	year = {2014},
	pages = {6777{\textendash}6783},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Niehues, Taylor D. and Badger, Julia and Diftler, Myron and Deshpande, Ashish D.}
}
@conference {yun2014control,
	title = {Control in the reliable region of a statistical model with Gaussian process regression},
	booktitle = {Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on},
	year = {2014},
	pages = {654{\textendash}660},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Yun, Youngmok and Deshpande, Ashish 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}
}
@article {deshpande2012contributions,
	title = {Contributions of intrinsic visco-elastic torques during planar index finger and wrist movements},
	journal = {Biomedical Engineering, IEEE Transactions on},
	volume = {59},
	number = {2},
	year = {2012},
	pages = {586{\textendash}594},
	publisher = {IEEE},
	author = {Deshpande, Ashish D. and Gialias, Nick and Matsuoka, Yoky}
}
@conference {kuo2010contribution,
	title = {Contribution of passive properties of muscle-tendon units to the metacarpophalangeal joint torque of the index finger},
	booktitle = {Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on},
	year = {2010},
	pages = {288{\textendash}294},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Kuo, Pei-Hsin and Deshpande, Ashish D.}
}
@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}
}
@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.}
}
