@booklet {529,
	title = {Differential Spiral Joint Mechanism for Coupled Variable Stiffness Actuation},
	year = {2023},
	abstract = {<p><span style="color: rgb(0, 0, 0); font-family: \&quot;Lucida Grande\&quot;, Helvetica, Arial, sans-serif; font-size: 13.608px;">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.</span></p>
},
	url = {https://arxiv.org/abs/2301.09158},
	author = {Mincheol Kim and Ashish Deshpande}
}
@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}
}
@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 {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}
}
@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 {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}
}
@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.}
}
@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 {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 {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.}
}
@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.}
}
