Publications | ReNeu Robotics Lab

2026

Characterizing Expectation Mismatch in a Brain-Controlled Upper-Body Rehabilitation Exoskeleton

IEEE Robotics and Automation Letters (RA-L)
Satyam Kumar, Kanishka Mitra, Deland H Liu, Hussein Alawieh, Frigyes Samuel Racz, Stefano Dalla Gasperina, Ashish D Deshpande, and Jose Del R Millan

2025

BiFlex: A Passive Bimodal Stiffness Flexible Wrist for Manipulation in Unstructured Environments

IEEE Robotics and Automation Letters (RA-L)
Gu-Cheol Jeong, Stefano Dalla Gasperina, Ashish D. Deshpande, Lillian Chin, and Roberto Martín-Martín

Joint Coordination Constraints Using an Upper Limb Exoskeleton Impact Novel Skill Acquisition

Wearable Technologies
Keya Ghonasgi, Reuth Mirsky, Adrian M. Haith, Peter Stone, Ashish D. Deshpande

Evaluating Spatio-Temporal Consistency in Robotic-Assisted Tasks Across Varied Gravity Compensation Levels

47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2025)
Anna Bucchieri, Alexander Khair, Matteo Laffranchi, Ashish D. Deshpande

Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation

arXiv preprint (arXiv:2507.23592), 2025
Haiyun Zhang, Stefano Dalla Gasperina, Saad N. Yousaf, Toshimitsu Tsuboi, Tetsuya Narita, Ashish D. Deshpande

2024

Effect of exoskeleton-based weight support on upper extremities functional tasks

Authorea Preprints
Anna Bucchieri, Alexander Khair, Matteo Laffranchi, Ashish Deshpande

BaRiFlex: A robotic gripper with versatility and collision robustness for robot learning

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Gu-Cheol Jeong, Arpit Bahety, Gabriel Pedraza, Ashish D. Deshpande, Roberto Martín-Martín

Effects of Wearing an Upper Extremity Exoskeleton on Measuring Joint Kinematics During Standardized Clinical Assessment Tasks

46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2024.
Yoon No Gregory Hong, K. Kim, A. D. Deshpande & J. Roh

Experimental and Simulation-Based Estimation of Interface Power During Physical Human-Robot Interaction in Hand Exoskeletons

IEEE Robotics and Automation Letters (RA-L), Vol. 9, pp. 2575-2581 (2024).
S. N. Yousaf, G. Mukherjee, R. King & A. D. Deshpande

Kinematic Performance of a Customizable Single Degree-of-Freedom Gait Trainer for Cost-Effective Therapy Aimed at Neuromuscular

Journal of Medical Devices, 18(1): 011003 (2024).
Shail Jadav, Karthik Subramanya Karvaje, Sujay D. Kadam, Vineet Vashista, James Sulzer, Ashish Deshpande, Harish J. Palanthandalam-Madapusi

Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study

Frontiers in Robotics and AI, 11:1451231 (2024)
H. Zhang, G. Naquila, J. Bae, Z. Wu, A. Hingwe & A. Deshpande

A Novel Parameter Estimation Method for Pneumatic Soft Hand Control Applying Logarithmic Decrement for Pseudo-Rigid Body Modelin

Advanced Intelligent Systems, article 2400637 (2024).
H. Zhang, K. HoLam Heung, G. J. Naquila, A. Hingwe & A. D. Deshpande

A Novel Velocity-Based Controller to Avoid Synergistic Movement After Stroke

10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (IEEE, 2024).
I. Scott, C. G. Rose & A. D. Deshpande

2023

Assessment of Upper-Body Movement Quality in the Cartesian-Space is Feasible in the Harmony Exoskeleton

IEEE Transactions on Human-Machine Systems, vol. 53, pp. 985-995 (2023).
Ana C. De Oliveira & Ashish D. Deshpande

Characterizing the Onset and Offset of Motor Imagery During Passive Arm Movements Induced by an Upper-Body Exoskeleton

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2023).
Kanishka Mitra, F. Samuel Racz, Satyam Kumar, A. D. Deshpande & José Del R. Millán

Differential Spiral Joint Mechanism for Coupled Variable Stiffness Actuation

ArXiv
Mincheol Kim & Ashish D. Deshpande

An Extended Virtual Proxy Haptic Algorithm for Dexterous Manipulation in Virtual Environments

2023 IEEE World Haptics Conference (WHC) (2023).
Aldo F. Galvan, Job D. Ramirez, A. D. Deshpande & Ann Majewicz Fey

Kinematic Coordinations Capture Learning During Human-Exoskeleton Interaction

Scientific Reports 13 (2023).
Keya Ghonasgi, Reuth Mirsky, Nisha Bhargava, Adrian M. Haith, Peter Stone & Ashish D. Deshpande

A Novel Control Law for Multi-Joint Human-Robot Interaction Tasks While Maintaining Postural Coordination

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2023).
Keya Ghonasgi, Reuth Mirsky, Adrian M. Haith, Peter Stone & Ashish D. Deshpande

2022

Designing Physical Human-Robot Interaction Interfaces: A Scalable Method for Simulation Based Design

Frontiers in Neurorobotics (2022).
R. J. Varghese, G. Mukherjee & A. D. Deshpande

Dynamic Finger Task Identification Using Electromyography

IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (2022).
P. Esmatloo, K. Ghonasgi, R. King & A. D. Deshpande

Human-Like Endtip Stiffness Modulation Inspires Dexterous Manipulation With Robotic Hands

IEEE Transactions on Neural Systems and Rehabilitation Engineering(2022).
A. Shafer & A. D. Deshpande

Human-Robot Interaction: Muscle Activation and Angular Location Affect Soft Tissue Stiffness

IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (2022).
S. N. Yousaf, K. Ghonasgi, P. Esmatloo & A. D. Deshpande

Impact of Gravity Compensation on Upper Extremity Movements in Harmony Exoskeleton

2022 International Conference on Rehabilitation Robotics (ICORR) (IEEE)
R. O. Hailey, A. C. de Oliveira, K. Ghonasgi, R. Whitford, R. Lee, C. G. Rose & A. D. Deshpande