MAHI Lab | Mechatronics and Haptic Interfaces Lab

Trajectory deformations from physical human–robot interaction

Impedance and Force-field Control of the Index Finger Module of a Hand Exoskeleton for Rehabilitation

Agarwal, P., & Deshpande, A. D. (2015, August). Impedance and force-field control of the index finger module of a hand exoskeleton for rehabilitation. In Rehabilitation Robotics (ICORR), 2015 IEEE International Conference on (pp. 85-90). IEEE.

Design, control, and testing of a thumb exoskeleton with series elastic actuation

Agarwal, P., Yun, Y., Fox, J., Madden, K., & Deshpande, A. D. (2017). Design, control, and testing of a thumb exoskeleton with series elastic actuation. The International Journal of Robotics Research, 36(3), 355-375.

Novel Framework for Optimizing Motor (Re)-learning with a Robotic Exoskeleton

Agarwal, P., & Deshpande, A. D. (2017, May). A novel framework for optimizing motor (Re)-learning with a robotic exoskeleton. In Robotics and Automation (ICRA), 2017 IEEE International Conference on (pp. 490-497). IEEE.

Methodologies for determining minimal grasping requirements and sensor locations for sEMG-based assistive hand orthosis for SCI patients

Yun, Y., Esmatloo, P., Serrato, A., Merring, C. A., & Deshpande, A. D. (2017, July). Methodologies for determining minimal grasping requirements and sensor locations for sEMG-based assistive hand orthosis for SCI patients. In Rehabilitation Robotics (ICORR), 2017 International Conference on (pp. 746-752). IEEE.

An EMG-Driven Assistive Hand Exoskeleton for Spinal Cord Injury Patients: Maestro

Yun, Y., Dancausse, S., Esmatloo, P., Serrato, A., Merring, C. A., Agarwal, P., & Deshpande, A. D. (2017, May). Maestro: An EMG-driven assistive hand exoskeleton for spinal cord injury patients. In Robotics and Automation (ICRA), 2017 IEEE International Conference on (pp. 2904-2910). IEEE.

Contribution of passive properties of muscle-tendon units to the metacarpophalangeal joint torque of the index ﬁnger

Kuo, P. H., & Deshpande, A. D. (2010, September). Contribution of passive properties of muscle-tendon units to the metacarpophalangeal joint torque of the index finger. In Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on (pp. 288-294). IEEE.

Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand

Niehues, T., and Deshpande, A. D., “Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand”, ASME Journal of Biomechanical Engineering, Volume 139, No. 10, 2017.

An Upper-Body Rehabilitation Exoskeleton with an Anatomical Shoulder Mechanism: Design, Modeling, Control, and Performance Evaluation

Kim, B. S., and Deshpande, A. D., “An Upper-Body Rehabilitation Exoskeleton with an Anatomical Shoulder Mechanism: Design, Modeling, Control, and Performance Evaluation”, International Journal of Robotics Research, Volume 36, No. 4, pp 414-435, 2017.