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Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T34A002, October 28–30, 2015

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2015-9620

https://doi.org/10.1115/DSCC2015-9620

View Paper titled, Validation of Fingertip Force in the ACT Hand Index Finger and Bond Graph Tendon Model

Topics: Tendons

Proceedings Papers

Effect of Parallel Compliance on Stability of Robotic Hands With Series Elastic Actuators

Prashant Rao, Taylor D. Niehues, Ashish D. Deshpande

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2015-9917

https://doi.org/10.1115/DSCC2015-9917

View Paper titled, Effect of Parallel Compliance on Stability of Robotic Hands With Series Elastic Actuators

Topics: Actuators, Robotics, Stability, Inertia (Mechanics), Stiffness, Design, Grasping, Robots, Tendons

Proceedings Papers

Assist-as-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation

Priyanshu Agarwal, Benito R. Fernandez, Ashish D. Deshpande

Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T42A002, October 28–30, 2015

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2015-9790

https://doi.org/10.1115/DSCC2015-9790

View Paper titled, Assist-as-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation

Topics: Control equipment, Exoskeleton devices, Engineering prototypes, Feedforward control, Finger joints (Carpentry), Torque, Trajectories (Physics)

Journal Articles

A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

Pei-Hsin Kuo, Ashish D. Deshpande

Publisher: ASME

J. Mechanisms Robotics. April 2016, 8(2): 021004.

Paper No: JMR-14-1335

https://doi.org/10.1115/1.4031300

Published Online: November 24, 2015

View Article titled, A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

Topics: Design, Pulleys, Torque, Robotics

Journal Articles

On Integration of Additive Manufacturing During the Design and Development of a Rehabilitation Robot: A Case Study

Kaci E. Madden, Ashish D. Deshpande

Publisher: ASME

J. Mech. Des. November 2015, 137(11): 111417.

Paper No: MD-15-1182

https://doi.org/10.1115/1.4031123

Published Online: October 12, 2015

View Article titled, On Integration of Additive Manufacturing During the Design and Development of a Rehabilitation Robot: A Case Study

Topics: Design, Exoskeleton devices, Robots, Additive manufacturing

Journal Articles

Design and Performance of a Motor-Driven Mechanism to Conduct Experiments With the Human Index Finger

Pei-Hsin Kuo, Jerod Hayes, Ashish D. Deshpande

Publisher: ASME

J. Mechanisms Robotics. August 2015, 7(3): 031010.

Paper No: JMR-13-1241

https://doi.org/10.1115/1.4028639

Published Online: August 1, 2015

View Article titled, Design and Performance of a Motor-Driven Mechanism to Conduct Experiments With the Human Index Finger

Topics: Design, Engines, Motors, Stress, Linkages, Dynamic testing (Engineering), Errors, Viscoelasticity, Testing

Proceedings Papers

Impedance Control Based on a Position Sensor in a Rehabilitation Robot

Bongsu Kim, Aurelien Rodot, Ashish D. Deshpande

Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T43A005, October 22–24, 2014

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2014-6258

https://doi.org/10.1115/DSCC2014-6258

View Paper titled, Impedance Control Based on a Position Sensor in a Rehabilitation Robot

Topics: Robots, Sensors, Pressure sensors, Control equipment, Engines, Feedback, Friction, Inertia (Mechanics), Mechanical drives, Motors

Journal Articles

Accurate, Robust, and Real-Time Pose Estimation of Finger

Youngmok Yun, Priyanshu Agarwal, Ashish D. Deshpande

Publisher: ASME

J. Dyn. Sys., Meas., Control. March 2015, 137(3): 034505.

Paper No: DS-13-1536

https://doi.org/10.1115/1.4028162

Published Online: October 21, 2014

View Article titled, Accurate, Robust, and Real-Time Pose Estimation of Finger

Topics: Algorithms, Kinematics, Noise (Sound), Optimization, Robotics, Simulation, State estimation, Modeling, Errors

Journal Articles

Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism

Bongsu Kim, Ashish D. Deshpande

Publisher: ASME

J. Mechanisms Robotics. November 2014, 6(4): 041009.

Paper No: JMR-13-1136

https://doi.org/10.1115/1.4027513

Published Online: June 12, 2014

View Article titled, Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism

Topics: Design, Pulleys, Springs, Torque, Gravity (Force), Shapes, Stiffness

Proceedings Papers

Kinematics and Dynamics of a Biologically Inspired Index Finger Exoskeleton

Priyanshu Agarwal, Arnold Hechanova, Ashish D. Deshpande

Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T28A001, October 21–23, 2013

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2013-3893

https://doi.org/10.1115/DSCC2013-3893

View Paper titled, Kinematics and Dynamics of a Biologically Inspired Index Finger Exoskeleton

Topics: Dynamics (Mechanics), Exoskeleton devices, Kinematics, Design, Finger joints (Carpentry), Stiffness, Tendons, Actuators, Displacement, Engineering simulation

Proceedings Papers

Novel Design of a Passive Variable Stiffness Joint Mechanism: Inspiration From Biomechanics of Hand Joints

Pei-Hsin Kuo, Ashish D. Deshpande

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2013-3980

https://doi.org/10.1115/DSCC2013-3980

View Paper titled, Novel Design of a Passive Variable Stiffness Joint Mechanism: Inspiration From Biomechanics of Hand Joints

Topics: Biomechanics, Design, Stiffness, End effectors, Engineering prototypes, Grasping, Shapes, Springs, Torque, Virtual work principle

Proceedings Papers

Effects of Moment Arm Variations on the Joint Stiffness Characteristics of a Musculo-Tendon Driven Joint

Prashant Rao, Ashish D. Deshpande

Proc. ASME. DSCC2012-MOVIC2012, Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems, 473-482, October 17–19, 2012

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2012-MOVIC2012-8556

https://doi.org/10.1115/DSCC2012-MOVIC2012-8556

View Paper titled, Effects of Moment Arm Variations on the Joint Stiffness Characteristics of a Musculo-Tendon Driven Joint

Topics: Stiffness, Tendons, Robotics, Shapes, Degrees of freedom, Design, Dynamic response, Energy consumption

Proceedings Papers

Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger

Pei-Hsin Kuo, Jerod Hayes, Ashish D. Deshpande

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 615-622, August 28–31, 2011

Publisher: American Society of Mechanical Engineers

Paper No: DETC2011-48009

https://doi.org/10.1115/DETC2011-48009

View Paper titled, Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger

Topics: Design, Engines, Motors, Artificial limbs, Damping, Dynamics (Mechanics), Kinematics, Robotics

Proceedings Papers

Human Motion Modeling With a Robotics Method: Analysis of a Person Riding a Bus

Ashish D. Deshpande, Jonathan E. Luntz

Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 647-652, October 20–22, 2008

Publisher: American Society of Mechanical Engineers

Paper No: DSCC2008-2192

https://doi.org/10.1115/DSCC2008-2192

View Paper titled, Human Motion Modeling With a Robotics Method: Analysis of a Person Riding a Bus

Topics: Artificial limbs, Chain, Design, Dynamics (Mechanics), Equations of motion, Kinematics, Modeling, Prostheses, Robotics

Proceedings Papers

A Methodology for Kinematics and Dynamics Analysis of Robotic Systems Internal Actuation

Ashish D. Deshpande, Jonathan E. Luntz

Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 1361-1367, November 11–15, 2007

Publisher: American Society of Mechanical Engineers

Paper No: IMECE2007-42383

https://doi.org/10.1115/IMECE2007-42383

View Paper titled, A Methodology for Kinematics and Dynamics Analysis of Robotic Systems Internal Actuation

Topics: Dynamics (Mechanics), Kinematics, Robotics, Robots, Complex systems, Design, Friction, Modeling

Proceedings Papers

Constraint Dominance Determination Methods

James R. Rinderle, Ashish D. Deshpande

Proc. ASME. IDETC-CIE2003, Volume 3b: 15th International Conference on Design Theory and Methodology, 553-563, September 2–6, 2003

Publisher: American Society of Mechanical Engineers

Paper No: DETC2003/DTM-48651

https://doi.org/10.1115/DETC2003/DTM-48651

View Paper titled, Constraint Dominance Determination Methods

Topics: Design, Rendering

Journal citation

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Supplemental Material

Design of a Single Degree-of-Freedom, Adaptable Electromechanical Gait Trainer for People With Neurological Injury

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

Series Elastic Actuators for Small-Scale Robotic Applications

A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons

Validation of Fingertip Force in the ACT Hand Index Finger and Bond Graph Tendon Model

Effect of Parallel Compliance on Stability of Robotic Hands With Series Elastic Actuators

Assist-as-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation

A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance

On Integration of Additive Manufacturing During the Design and Development of a Rehabilitation Robot: A Case Study

Design and Performance of a Motor-Driven Mechanism to Conduct Experiments With the Human Index Finger

Impedance Control Based on a Position Sensor in a Rehabilitation Robot

Accurate, Robust, and Real-Time Pose Estimation of Finger

Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism

Kinematics and Dynamics of a Biologically Inspired Index Finger Exoskeleton

Novel Design of a Passive Variable Stiffness Joint Mechanism: Inspiration From Biomechanics of Hand Joints

Effects of Moment Arm Variations on the Joint Stiffness Characteristics of a Musculo-Tendon Driven Joint

Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger

Human Motion Modeling With a Robotics Method: Analysis of a Person Riding a Bus

A Methodology for Kinematics and Dynamics Analysis of Robotic Systems Internal Actuation

Constraint Dominance Determination Methods

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