@article {486, title = {Designing Physical Human-Robot Interaction Interfaces: A Scalable Method for Simulation Based Design}, journal = {Frontiers in Neurorobotics}, year = {2022}, author = {Varghese, R. J. and Mukherjee, G. and Deshpande, A. D.} } @conference {497, title = {Dynamic Finger Task Identification Using Electromyography}, booktitle = {IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)}, year = {2022}, author = {Paria Esmatloo and Keya Ghonasgi and Raymond King and Ashish D. Deshpande} } @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} } @conference {498, title = {Human-Robot Interaction: Muscle Activation and Angular Location Affect Soft Tissue Stiffness}, booktitle = {IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)}, year = {2022}, author = {Saad N. Yousaf and Keya Ghonasgi and Paria Esmatloo and Ashish D. Deshpande} } @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} } @article {495, title = {Novel Biomedical Technologies: Rehabilitation Robotics}, journal = {Current Opinion in Biomedical Engineering}, volume = {22}, year = {2022}, author = {Ashish D. Deshpande} } @conference {467, title = {An Actuated Indenter for Characterization of Soft Tissue Towards Human-Centered Design}, booktitle = { IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, year = {2021}, author = {Saad N. Yousaf and Keya Ghonasgi and Paria Esmatloo and Ashish D. 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} } @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} } @article {452, title = {Balancing Stability and Stiffness Through the Optimization of Parallel Compliance: Using Coupled Tendon Routing}, journal = {IEEE Robotics \& Automation Magazine}, volume = {28}, year = {2021}, month = {06/2021}, pages = {14-22}, author = {Mincheol Kim 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} } @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} } @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} } @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 {466, title = {A Method for the Analysis of Physical Human Robot Interaction}, booktitle = { IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, year = {2021}, author = {Saad N. Yousaf and Paria Esmatloo and Keya Ghonasgi and Ashish D. Deshpande} } @article {455, title = {A Modular Design for Distributed Measurement of Human-Robot Interaction Forces in Wearable Devices}, journal = {Sensors}, year = {2021}, author = {Keya Ghonasgi and Saad N. Yousaf and Paria Esmatloo and Ashish D. Deshpande} } @conference {464, title = {Monitoring Fatigue-Induced Changes in Performance during Robot-Mediated Dynamic Movement}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2021}, author = {Kaci E. Madden and Dragan Djurdjanovic 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 {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} } @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 {428, title = {Fingertip Position and Force Control for Dexterous Manipulation through Model-Based Control of Hand-Exoskeleton-Environment}, booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (AIM 2020). }, year = {2020}, author = {Paria Esmatloo and Ashish D. Deshpande} } @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} } @proceedings {432, title = {A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints}, year = {2020}, author = {Stefano D. Gasperina and Keya Ghonasgi and Ana C. de Oliveira 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} } @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.} } @article {395, title = {A Framework for Adaptation of Training Task, Assistance and Feedback for Optimizing Motor (Re)-Learning With a Robotic Exoskeleton}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, chapter = {808}, author = {Priyanshu Agarwal and Ashish D. Deshpande} } @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} } @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 {378, title = {Designing Variable Stiffness Profiles To Optimize The Physical Human Robot Interface Of Hand Exoskeletons}, booktitle = {BioRob (IEEE International Conference on Biomedical Robotics and Biomechatronics)}, year = {2018}, author = {Varghese, R. J. and Mukherjee, G. and King, R. and Keller, S. and Deshpande, A. D.} } @conference {371, title = {Human-Inspired Object Manipulation Control with the Anatomically Correct Testbed Hand}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2018}, author = {Taylor D. Niehues and Ashish D. Deshpande} } @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 {369, title = {Monitoring Human Neuromusculoskeletal System Performance during Spacesuit Glove Use: A Pilot Study}, booktitle = {IEEE Aerospace Conference}, year = {2018}, author = {Madden, Kaci E. and Djurdjanovic, D. and Deshpande, A.D.} } @article {357, title = {Subject-specific Assist-as-needed Controllers for a Hand Exoskeleton for Rehabilitation}, journal = {IEEE Robotics and Automation Letters (RA-L)}, volume = {3}, year = {2018}, author = {Agarwal, P and Deshpande, A. D.} } @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 {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.} } @article {300, title = {Design, Control and Testing of a Thumb Exoskeleton with Series Elastic Actuation}, journal = {International Journal of Robotics Research}, year = {2017}, keywords = {Exoskeleton, Hand, Thumb}, author = {Priyanshu Agarwal and Youngmok Yun and Jonas Fox and Kaci E. Madden and Ashish D. Deshpande} } @conference {318, title = {Development and validation of modeling framework for interconnected tendon networks in robotic and human fingers}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, author = {Niehues, Taylor D and King, Raymond J and Deshpande, Ashish D and Keller, Sean} } @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 {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 {380, title = {Evaluation of the Harmony exoskeleton as an upper extremity rehabilitation tool after stroke}, booktitle = {2017 International Symposium on Wearable Robotics and Rehabilitation (WeRob)}, year = {2017}, author = {Ogden, Evan M and Chiu, David and Clearman, Rebecca and Card, Cynthia and Deshpande, Ashish D} } @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 {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} } @article {331, title = {Series Elastic Actuators for Small-Scale Robotic Applications}, journal = {Journal of Mechanisms and Robotics}, volume = {9}, year = {2017}, month = {03/2017}, chapter = {1168}, author = {Priyanshu Agarwal and Ashish D. Deshpande} } @article {332, title = {An Upper-Body Rehabilitation Exoskeleton Harmony with an Anatomical Shoulder Mechanism: Design, Modeling, Control, and Performance Evaluation}, journal = {International Journal of Robotics Research (IJRR)}, volume = {36}, year = {2017}, pages = {414-435}, author = {Bongsu Kim and Ashish D. Deshpande} } @article {343, title = {Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand}, journal = {Journal of Biomechanical Engineering}, volume = {139}, year = {2017}, pages = {101005}, author = {Niehues, Taylor D and Deshpande, Ashish D} } @conference {289, title = {Accurate Torque Control of Finger Joints with UT Hand Exoskeleton through Bowden Cable SEA}, booktitle = {IEEE International Conference on Robotics and Automation (IROS)}, year = {2016}, author = {Youngmok Yun and Agarwal, P. and Fox, Jonas and Madden, K.E. and Deshpande, A.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} } @article {290, title = {Control in the Reliable Region of a Statistical Model}, journal = {Transactions on Robotics}, volume = {32}, year = {2016}, chapter = {1017}, author = {Yun, Y. and J. Ko and Deshpande, A.D.} } @conference {287, title = {A Novel Framework for Optimizing Motor (Re)-Learning with a Robotic Exoskeleton}, booktitle = {Biomechanics and Neural Control of Movement (BANCOM)}, year = {2016}, author = {Agarwal, P. and Deshpande, A.D.} } @article {288, title = {A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons}, journal = {Journal of Biomechanical Engineering}, volume = {138}, year = {2016}, author = {Agarwal, P. and Neptune, R. and Deshpande, A.D.} } @conference {291, title = {Understanding the Mechanisms of Scapulohumeral Rhythm with the HARMONY Exoskeleton}, booktitle = {Biomechanics and Neural Control of Movement (BANCOM)}, year = {2016}, author = {Ogden, Evan M. and Deshpande, A. D.} } @article {yun2015accurate, title = {Accurate, Robust, and Real-Time Pose Estimation of Finger}, journal = {Journal of Dynamic Systems, Measurement, and Control}, volume = {137}, number = {3}, year = {2015}, pages = {034505}, publisher = {American Society of Mechanical Engineers}, chapter = {1}, author = {Yun, Youngmok and Agarwal, Priyanshu and Deshpande, A.D.} } @conference {286, title = {Assist-As-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation}, booktitle = {Dynamic Systems and Control Conference (DSCC)}, year = {2015}, author = {Agarwal, P. and Fernandez, B. and Deshpande, A.D.} } @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 {315, title = {Crocheted Artificial Tendons and Ligaments for the Anatomically Correct Testbed (ACT) Hand}, booktitle = {IEEE ROBIO}, year = {2015}, author = {Z. Xu and Y. Matsuoka and Ashish D. Deshpande} } @article {kuo2015design, title = {Design and performance of a motor-driven mechanism to conduct experiments with the human index finger}, journal = {Journal of Mechanisms and Robotics}, volume = {7}, number = {3}, year = {2015}, pages = {031010}, publisher = {American Society of Mechanical Engineers}, author = {Kuo, Pei-Hsin and Hayes, Jerod and Deshpande, Ashish 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 {agarwal2015impedance, title = {Impedance and Force-Field Control of the Index Finger Module of a Hand Exoskeleton for Rehabilitation}, booktitle = {Rehabilitation Robotics (ICORR)}, year = {2015}, pages = {85{\textendash}90}, publisher = {IEEE}, organization = {IEEE}, author = {Agarwal, Priyanshu and Deshpande, A.D.} } @article {285, title = {An Index Finger Exoskeleton with Series Elastic Actuation for Rehabilitation: Design, Control and Performance Characterization}, journal = {International Journal of Robotics Research (IJRR)}, volume = {34}, year = {2015}, chapter = {1747}, author = {Agarwal, P. and Fox, Jonas and Yun, Y. and O{\textquoteright}Malley, M.K. and Deshpande, A.D.} } @article {madden2015integration, title = {On Integration of Additive Manufacturing During the Design and Development of a Rehabilitation Robot: A Case Study}, journal = {Journal of Mechanical Design}, year = {2015}, author = {Madden, Kaci E. and Deshpande, A.D.} } @article {kuo2015novel, title = {A Novel Joint Design for Robotic Hands with Human-Like Nonlinear Compliance}, journal = {Journal of Mechanisms and Robotics}, year = {2015}, author = {Kuo, Pei-Hsin and Deshpande, A.D.} } @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 {kim2014design, title = {Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism}, journal = {Journal of Mechanisms and Robotics}, volume = {6}, number = {4}, year = {2014}, pages = {041009}, publisher = {American Society of Mechanical Engineers}, author = {Kim, Bongsu and Deshpande, Ashish D.} } @inbook {deshpande2014development, title = {Development of an Anatomically Correct Testbed (ACT) Hand}, booktitle = {The Human Hand as an Inspiration for Robot Hand Development}, year = {2014}, pages = {453{\textendash}475}, publisher = {Springer}, organization = {Springer}, author = {Deshpande, Ashish D. and Matsuoka, Yoky} } @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 {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.} } @article {Kim:WeRob:2014, title = {Mechanical Design of A Wearable Robot for Upper Body Rehabilitation}, journal = {International Workshop on Wearable Robotics (WeRob)}, year = {2014}, author = {Kim, Bongsu and Deshpande, Ashish D.} } @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 {yun2013accurate, title = {Accurate, robust, and real-time estimation of finger pose with a motion capture system}, booktitle = {Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on}, year = {2013}, pages = {1626{\textendash}1631}, publisher = {IEEE}, organization = {IEEE}, author = {Yun, Youngmok and Agarwal, Priyanshu 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} } @conference {Agarwal:ASB:2013, title = {Integration of Musculoskeletal Analysis with Engineering Design for Virtual Prototyping of Exoskeletons}, booktitle = {American Society of Biomechanics}, year = {2013}, author = {Agarwal, Priyanshu and Kuo, Pei-Hsin and Neptune, Richard and Deshpande, Ashish D.} } @conference {agarwal2013kinematics, title = {Kinematics and Dynamics of a Biologically Inspired Index Finger Exoskeleton}, booktitle = {ASME 2013 Dynamic Systems and Control Conference}, year = {2013}, pages = {V002T28A001{\textendash}V002T28A001}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Agarwal, Priyanshu and Hechanova, Arnold and Deshpande, Ashish D.} } @article {deshpande2013mechanisms, title = {Mechanisms of the anatomically correct testbed hand}, journal = {Mechatronics, IEEE/ASME Transactions on}, volume = {18}, number = {1}, year = {2013}, pages = {238{\textendash}250}, publisher = {IEEE}, author = {Deshpande, Ashish D. and Xu, Zhe and Weghe, Michael J Vande and Brown, Benjamin H and Ko, Jonathan and Chang, Lillian Y and Wilkinson, David D and Bidic, Sean M and Matsuoka, Yoky} } @conference {kuo2013novel, title = {Novel design of a passive variable stiffness joint mechanism: Inspiration from biomechanics of hand joints}, booktitle = {ASME 2013 Dynamic Systems and Control Conference}, year = {2013}, pages = {V002T28A003{\textendash}V002T28A003}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Kuo, Pei-Hsin and Deshpande, Ashish D.} } @conference {agarwal2013novel, title = {A novel framework for virtual prototyping of rehabilitation exoskeletons}, booktitle = {Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on}, year = {2013}, pages = {1{\textendash}6}, publisher = {IEEE}, organization = {IEEE}, author = {Agarwal, Priyanshu and Kuo, Pei-Hsin and Neptune, Richard and Deshpande, Ashish D.} } @conference {Yun:ASB:2013, title = {Statistical Functional Mapping From Body Parameters to Gait Kinematics}, booktitle = {American Society of Biomechanics}, year = {2013}, author = {Yun, Youngmok and Deshpande, Ashish D.} } @conference {Yun:DW:2013, title = {Synthesis of Gait Kinematics Using a Database}, booktitle = {Dynamic Walking}, year = {2013}, author = {Yun, Youngmok and Deshpande, Ashish D.} } @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 {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 {kuo2012muscle, title = {Muscle-tendon units provide limited contributions to the passive stiffness of the index finger metacarpophalangeal joint}, journal = {Journal of biomechanics}, volume = {45}, number = {15}, year = {2012}, pages = {2531{\textendash}2538}, publisher = {Elsevier}, author = {Kuo, Pei-Hsin and Deshpande, Ashish D.} } @conference {kuo2011design, title = {Design of a motor-driven mechanism to conduct experiments to determine the passive joint properties of the human index finger}, booktitle = {ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference}, year = {2011}, pages = {615{\textendash}622}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Kuo, Pei-Hsin and Hayes, Jerod 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.} } @article {deshpande2010acquiring, title = {Acquiring variable moment arms for index finger using a robotic testbed}, journal = {Biomedical Engineering, IEEE Transactions on}, volume = {57}, number = {8}, year = {2010}, pages = {2034{\textendash}2044}, publisher = {IEEE}, author = {Deshpande, Ashish D. and Balasubramanian, Ravi and Ko, Jonathan 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 {deshpande2009act, title = {ACT hand finger control: muscle and joint torque control strategies}, booktitle = {IEEE International Conference on Robotics and Automation}, year = {2009}, author = {Deshpande, Ashish D. and Ko, Jonathan and Fox, Dieter and Matsuoka, Yoky} } @article {deshpande2009methodology, title = {A methodology for design and analysis of cooperative behaviors with mobile robots}, journal = {Autonomous Robots}, volume = {27}, number = {3}, year = {2009}, pages = {261{\textendash}276}, publisher = {Springer}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2008human, title = {Human motion modeling with a robotics method: analysis of a person riding a bus}, booktitle = {ASME 2008 Dynamic Systems and Control Conference}, year = {2008}, pages = {647{\textendash}652}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2008understanding, title = {Understanding variable moment arms for the index finger MCP joints through the ACT hand}, booktitle = {Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS \& EMBS International Conference on}, year = {2008}, pages = {776{\textendash}782}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Balasubramanian, Ravi and Lin, Ralph and Dellon, Brian and Matsuoka, Yoky} } @article {deshpande2007behaviors, title = {Behaviors for physical cooperation between robots for mobility improvement}, journal = {Autonomous Robots}, volume = {23}, number = {4}, year = {2007}, pages = {259{\textendash}274}, publisher = {Springer}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @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 {deshpande2007method, title = {A method to characterize and exploit actuation redundancy in mobility and manipulation}, booktitle = {Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on}, year = {2007}, pages = {3515{\textendash}3521}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2007methodology, title = {A methodology for kinematics and dynamics analysis of robotic systems internal actuation}, booktitle = {ASME 2007 International Mechanical Engineering Congress and Exposition}, year = {2007}, pages = {1361{\textendash}1367}, publisher = {American Society of Mechanical Engineers}, organization = {American Society of Mechanical Engineers}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {deshpande2006behaviors, title = {Behaviors for Physical Cooperation Between Robots for Mobility Improvement: Hardware Results and Use of Dynamics}, booktitle = {Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on}, year = {2006}, pages = {2212{\textendash}2218}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @conference {Deshpande-RSS-06, title = {Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2006}, month = {August}, address = {Philadelphia, USA}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @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.} } @article {deshpande2006unified, title = {A unified framework to represent physically cooperating mobile robots and other robotic systems}, journal = {Robotics Science and System}, year = {2006}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @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.} } @conference {Deshpande2003a, title = {Decentralized control for a team of physically cooperating robots}, booktitle = {Intelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on}, volume = {2}, year = {2003}, pages = {1757{\textendash}1762}, publisher = {IEEE}, organization = {IEEE}, author = {Deshpande, Ashish D. and Luntz, Jonathan E.} } @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.} }