@article {549,
	title = {Novel bio-inspired soft actuators for upper-limb exoskeletons: Design, fabrication and feasibility study},
	journal = {Frontiers in Robotics and AI},
	volume = {11},
	year = {2024},
	pages = {1451231},
	author = {Zhang, Haiyun and Naquila, Gabrielle and Bae, Junghyun and Wu, Zonghuan and Hingwe, Ashwin and Deshpande, Ashish}
}
@article {544,
	title = {A Novel Parameter Estimation Method for Pneumatic Soft Hand Control Applying Logarithmic Decrement for Pseudo-Rigid Body Modeling},
	journal = {Advanced Intelligent Systems},
	year = {2024},
	pages = {2400637},
	author = {Zhang, Haiyun and Heung, Kelvin HoLam and Naquila, Gabrielle J and Hingwe, Ashwin and Deshpande, Ashish D}
}
@conference {547,
	title = {A Novel Velocity-Based Controller to Avoid Synergistic Movement After Stroke},
	booktitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)},
	year = {2024},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Scott, Isaiah and Rose, Chad G and Deshpande, Ashish D}
}
@conference {532,
	title = {A Novel Control Law for Multi-Joint Human-Robot Interaction Tasks While Maintaining Postural Coordination},
	booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2023},
	month = {Oct},
	abstract = {<p>Exoskeleton robots are capable of safe torque-controlled interactions with a wearer while moving their limbs through predefined trajectories. However, affecting and assisting the wearer{\textquoteright}s movements while incorporating their inputs (effort and movements) effectively during an interaction re-mains an open problem due to the complex and variable nature of human motion. In this paper, we present a control algorithm that leverages task-specific movement behaviors to control robot torques during unstructured interactions by implementing a force field that imposes a desired joint angle coordination behavior. This control law, built by using principal component analysis (PCA), is implemented and tested with the Harmony exoskeleton. We show that the proposed control law is versatile enough to allow for the imposition of different coordination behaviors with varying levels of impedance stiffness. We also test the feasibility of our method for unstructured human-robot interaction. Specifically, we demonstrate that participants in a human-subject experiment are able to effectively perform reaching tasks while the exoskeleton imposes the desired joint coordination under different movement speeds and interaction modes. Survey results further suggest that the proposed control law may offer a reduction in cognitive or motor effort. This control law opens up the possibility of using the exoskeleton for training the participating in accomplishing complex multi-joint motor tasks while maintaining postural coordination.</p>
},
	keywords = {Behavioral sciences, Exoskeletons, Human-robot interaction, Robot kinematics, Surveys, Training, Trajectory},
	doi = {10.1109/IROS55552.2023.10342501},
	author = {Ghonasgi, Keya and Mirsky, Reuth and Haith, Adrian M. and Stone, Peter and Deshpande, Ashish D.}
}
@article {495,
	title = {Novel Biomedical Technologies: Rehabilitation Robotics},
	journal = {Current Opinion in Biomedical Engineering},
	volume = {22},
	year = {2022},
	author = {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 {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 {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 {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.}
}
