@article {534,
	title = {Experimental and Simulation-Based Estimation of Interface Power During Physical Human-Robot Interaction in Hand Exoskeletons},
	journal = {IEEE Robotics and Automation Letters},
	volume = {9},
	year = {2024},
	month = {March},
	pages = {2575-2581},
	abstract = {<p>Even the best wearable robots face challenges with power losses in the system, especially at the physical attachment interface. While some sources for power loss are inherent to the system, such as human soft tissue or musculoskeletal joint damping, other sources such as soft padding materials and bias strap forces can be modulated to optimize interface power transmission. Few methods currently exist for estimating power loss at physical human-robot interfaces, especially for upper-body exoskeletons. This letter presents a novel method to estimate interface power from experimental data in a wearable hand device, along with a simulation model for predicting interaction behavior by incorporating viscoelastic properties at the attachment interface. The experimental method is implemented with the Maestro hand exoskeleton, and repeatability of the interface power estimation is confirmed with pilot human testing. Simulation results are compared with experimental estimation of interface power, showing agreement of trends and validating the use of a simulation model to predict physical human-robot interaction behavior. These findings highlight the advantages of multi-body simulations as a tool to perform modular, inexpensive, and predictive investigations in physical human-robot interaction, without affecting the real-world mechatronic system or hindering the subject{\textquoteright}s safety. The proposed tools for experimental estimation of interface power and simulation modeling can optimize the design and control of robots for seamless integration with the human body.</p>
},
	keywords = {design and human factors, Estimation, Exoskeletons, human-centered robotics, Physical human-robot interaction, Power measurement, Robots, Sea measurements, Torque, Torque measurement, wearable robotics},
	issn = {2377-3766},
	doi = {10.1109/LRA.2023.3326679},
	author = {Yousaf, Saad N. and Mukherjee, Gaurav and King, Raymond and Deshpande, Ashish D.}
}
@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 = {<p>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.</p>
},
	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 {chen2014experimental,
	title = {Experimental characterization of Bowden cable friction},
	booktitle = {Robotics and Automation (ICRA), 2014 IEEE International Conference on},
	year = {2014},
	pages = {5927{\textendash}5933},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Chen, Dongyang and Yun, Youngmok and Deshpande, Ashish 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.}
}
@conference {Kuo:ASB:2011,
	title = {Effects of Variations in Velocity on Viscoelastic Behaviour in the Metacarpophalangeal (MCP) Joint of the Human Hand},
	booktitle = {In Proceedings of American Society of Biomechanics},
	year = {2011},
	author = {Kuo, Pei-Hsin and Deshpande, Ashish D.}
}
@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.}
}
