@article {537,
	title = {Assessment of Upper-Body Movement Quality in the Cartesian-Space is Feasible in the Harmony Exoskeleton},
	journal = {IEEE Transactions on Human-Machine Systems},
	volume = {53},
	year = {2023},
	month = {Dec},
	pages = {985-995},
	abstract = {<p>To determine the most effective interventions for poststroke patients, it is imperative to monitor the recovery process. Robotic exoskeletons{\textquoteright} built-in sensing capabilities enable accurate kinematic measurement with no additional setup time. Although position sensors used in exoskeletons are accurate, a mismatch between the robot{\textquoteright}s and the human{\textquoteright}s joints can lead to inaccurate measurements. In addition, the robot{\textquoteright}s residual dynamics can interfere with human{\textquoteright}s natural movements and the kinematic metrics assessed in the robot would not be representative of the human{\textquoteright}s movement in free-motion. So far, the accuracy of robotic exoskeletons in assessing upper-body kinematics has not been verified. The bilateral upper-body Harmony exoskeleton has features favorable to minimize joint misalignments and the robot{\textquoteright}s residual dynamics. In this study, we examined Harmony{\textquoteright}s ability to accurately assess Cartesian-space kinematic parameters associated with the wearer{\textquoteright}s movement quality. We analyzed data collected from eight healthy participants that executed point-to-point movements with and without the presence of the robot and at fast and slow speeds. Ground truth was acquired with an optical motion capture, and we extracted the kinematic parameters from the measured data. The results suggest that Harmony can accurately measure kinematic parameters associated with movement quality, and these parameters could appropriately reflect wearer{\textquoteright}s natural movements at a slow speed. Therefore, Harmony could aid the evaluation of the effectiveness of different interventions, which is more sensitive and efficient than currently adopted clinical outcomes. This allows for individualization of a treatment plan and a detailed follow-up.</p>
},
	keywords = {Assistive robots, Atmospheric measurements, Exoskeletons, Kinematic assessment, Kinematics, Motion capture, Optical variables measurement, Particle measurements, rehabilitation robotics, Robot sensing systems, robotic exoskeleton, Training},
	issn = {2168-2305},
	doi = {10.1109/THMS.2023.3305391},
	author = {De Oliveira, Ana C. and Deshpande, Ashish D.}
}
@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}
}
@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}
}
@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 {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.}
}
@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 {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 {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 {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}
}
