@booklet {529, title = {Differential Spiral Joint Mechanism for Coupled Variable Stiffness Actuation}, year = {2023}, abstract = {

In this study, we present the Differential Spiral Joint (DSJ) mechanism for variable stiffness actuation in tendon-driven robots. The DSJ mechanism semi-decouples the modulation of position and mechanical stiffness, allowing independent trajectory tracking in different parameter space. Past studies show that increasing the mechanical stiffness achieves the wider range of renderable stiffness, whereas decreasing the mechanical stiffness improves the quality of actuator decoupling and shock absorbance. Therefore, it is often useful to modulate the mechanical stiffness to balance the required level of stiffness and safety. In addition, the DSJ mechanism offers a compact form factor, which is suitable for applications where the size and weight are important. The performance of the DSJ mechanism in various areas is validated through a set of experiments.

}, url = {https://arxiv.org/abs/2301.09158}, author = {Mincheol Kim and Ashish Deshpande} } @conference {474, title = {Analytical Design of a Pneumatic Elastomer Robot with Deterministically Adjusted Stiffness}, booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)}, year = {2021}, author = {Uksang Yoo and Yang Liu and Ashish Deshpande and Farshid Alambeigi} } @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 {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 {478, title = {The Effects of EMG-Based Classification and Robot Control Method on User{\textquoteright}s Neuromuscular Effort during Real-Time Assistive Hand Exoskeleton Operation}, booktitle = { International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2021}, abstract = {

EMG-based intention recognition and assistive device control are often developed separately, which can lead to the unintended consequence of requiring excessive muscular effort and fatigue during operation.\ In this paper, we address two important aspects of the performance of an integrated EMG-based assistive system. Firstly, we investigate the effects of muscular effort on EMG-based classification and robot control. Secondly, we propose a robot control solution that reduces muscular effort required in assisted dynamic daily tasks compared to the state-of-the-art control methods.

}, author = {Paria Esmatloo and Ashish Deshpande} } @conference {481, title = {SCAPE: Learning Stiffness Control from Augmented Position Control Experiences}, booktitle = {Conference on Robot Learning. Proceedings of Machine Learning Research}, year = {2021}, author = {Mincheol Kim and Scott Niekum and Ashish Deshpande} } @article {454, title = {Using a System-Based Monitoring Paradigm to Assess Fatigue during Submaximal Static Exercise of the Elbow Extensor Muscles}, journal = {Sensors}, year = {2021}, author = {Kaci Madden and Dragan Djurdjanovic and Ashish Deshpande} }