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Ehsan T. Esfahani
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Journal Articles

Estimating Motor Control Difficulty in Human-Robot Fine Co-Manipulation Tasks Using Brain Activities

Accepted Manuscript
Hemanth Manjunatha, Amirhossein Hajiagha Memar, Ehsan T Esfahani
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng.
Paper No: JCISE-24-1259
https://doi.org/10.1115/1.4068083
Published Online: March 4, 2025
View Article titled, Estimating Motor Control Difficulty in Human-Robot Fine Co-Manipulation Tasks Using Brain Activities
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Topics: Brain, Motor controls, Robots, Electroencephalography, Human-robot interaction, Artificial intelligence, Control equipment, Convolutional neural networks, Mechanical admittance, Safety
Proceedings Papers

Predicting Human Context-Aware Action Modifications for AI Assistance in Visually Demanding Tasks

Kristian Dalland, Joseph P. Distefano, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2024, Volume 2B: 44th Computers and Information in Engineering Conference (CIE), V02BT02A043, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143575
https://doi.org/10.1115/DETC2024-143575
View Paper titled, Predicting Human Context-Aware Action Modifications for AI Assistance in Visually Demanding Tasks
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Topics: Air traffic control, Artificial intelligence, Biomedical imaging, Decision making, Design, Human eye, Machine learning, Teams
Proceedings Papers

Efficient Object Manipulation in Confined Space Using Compliant Based Gripper

Krushang Gabani, Yuhe Oswin Ji, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A036, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116674
https://doi.org/10.1115/DETC2023-116674
View Paper titled, Efficient Object Manipulation in Confined Space Using Compliant Based Gripper
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Topics: Grippers, Manipulators, Algorithms, Collisions (Physics), Human-robot collaboration, Machinery, Optimization, Robotics, Stiffness
Journal Articles

Special Section: Symbiotic Human–Artificial Intelligence Partnership for Next-Generation Factories

Ehsan T. Esfahani, Bin He, Chih-Hsing Chu, Ying Liu, Rahul Rai, Gaurav Ameta
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Guest Editorial
J. Comput. Inf. Sci. Eng. October 2022, 22(5): 050301.
Paper No: JCISE-22-1165
https://doi.org/10.1115/1.4054673
Published Online: June 27, 2022
View Article titled, Special Section: Symbiotic Human–Artificial Intelligence Partnership for Next-Generation Factories
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Topics: Artificial intelligence, Machinery
Journal Articles

Transfer Learning of Motor Difficulty Classification in Physical Human–Robot Interaction Using Electromyography

Hemanth Manjunatha, Sri Sadhan Jujjavarapu, Ehsan T. Esfahani
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. October 2022, 22(5): 050908.
Paper No: JCISE-21-1313
https://doi.org/10.1115/1.4054594
Published Online: June 7, 2022
View Article titled, Transfer Learning of Motor Difficulty Classification in Physical Human–Robot Interaction Using Electromyography
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Topics: Artificial neural networks, Damping, Electromyography, Engines, Human-robot interaction, Machine learning, Motors, Robots, Signals, Physiology
Proceedings Papers

Fatigue Detection for Human Aware Adaptation in Human-Robot Collaboration

Rakesh Suresh Kumar, Sri Sadhan Jujjavarapu, Lung Hao Lee, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A020, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70975
https://doi.org/10.1115/DETC2021-70975
View Paper titled, Fatigue Detection for Human Aware Adaptation in Human-Robot Collaboration
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Topics: Collaboration, Fatigue, Robots, Muscle, Geometry, Sensors, Adaptive control, Engines, Motors, Robustness
Proceedings Papers

Design of a Novel Variable Stiffness Active Ankle Foot Orthosis Using Permanent Magnets for Drop Foot Assistance

Abhinaba Basu, Sri Sadhan Jujjavarapu, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A049, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22742
https://doi.org/10.1115/DETC2020-22742
View Paper titled, Design of a Novel Variable Stiffness Active Ankle Foot Orthosis Using Permanent Magnets for Drop Foot Assistance
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Topics: Design, Orthotics, Permanent magnets, Stiffness, Torque, Cycles, Magnets, Springs
Proceedings Papers

Stiffness Based Stability Enhancement in Human-Robot Collaboration

Sri Sadhan Jujjavarapu, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A019, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98506
https://doi.org/10.1115/DETC2019-98506
View Paper titled, Stiffness Based Stability Enhancement in Human-Robot Collaboration
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Topics: Collaboration, Robots, Stability, Stiffness, Muscle, Mechanical admittance
Journal Articles

Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction

Sri Sadhan Jujjavarapu, Amirhossein H. Memar, M. Amin Karami, Ehsan T. Esfahani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020915.
Paper No: JMR-18-1384
https://doi.org/10.1115/1.4042295
Published Online: February 27, 2019
View Article titled, Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human–Robot Interaction
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Topics: Magnets, Stiffness, Control equipment, Human-robot interaction, Mechanical admittance
Proceedings Papers

Variable Stiffness Mechanism for Tremor Suppression in Human-Robot Interaction

Sri Sadhan Jujjavarapu, M. Amin Karami, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A066, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86328
https://doi.org/10.1115/DETC2018-86328
View Paper titled, Variable Stiffness Mechanism for Tremor Suppression in Human-Robot Interaction
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Topics: Human-robot interaction, Stiffness, Magnets, Robotics, Actuators, Degrees of freedom, Filters, Permanent magnets, Prostheses, Robots
Proceedings Papers

Design of a 2D Haptic System With Passive Variable Stiffness Using Permanent Magnets for Upper-Limb Rehabilitation

Sri Sadhan Jujjavarapu, Amirhossein H. Memar, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2017, Volume 3: 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices, V003T13A003, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67669
https://doi.org/10.1115/DETC2017-67669
View Paper titled, Design of a 2D Haptic System With Passive Variable Stiffness Using Permanent Magnets for Upper-Limb Rehabilitation
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Topics: Design, Haptics, Permanent magnets, Stiffness, Magnets, End effectors, Robotics, Trajectories (Physics)
Proceedings Papers

Human Performance in a Mixed Human-Robot Team: Design of a Collaborative Framework

Amirhossein H. Memar, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2016, Volume 1B: 36th Computers and Information in Engineering Conference, V01BT02A056, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60205
https://doi.org/10.1115/DETC2016-60205
View Paper titled, Human Performance in a Mixed Human-Robot Team: Design of a Collaborative Framework
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Topics: Design, Robots, Teams, Physiology, Brain, Errors, Robotics, Statistical analysis
Proceedings Papers

Spike Sorting via Multi Cluster Feature Selection

Azadeh Dinparastdjadid, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2016, Volume 3: 18th International Conference on Advanced Vehicle Technologies; 13th International Conference on Design Education; 9th Frontiers in Biomedical Devices, V003T11A008, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60456
https://doi.org/10.1115/DETC2016-60456
View Paper titled, Spike Sorting via Multi Cluster Feature Selection
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Topics: Feature selection, Brain, Computers, Data mining, Machine learning, Optimization
Proceedings Papers

A Robust Method to Improve Estimation Accuracy of Walking Gait Kinematics by Considering Geometrical Constraints on Kinect Data

Mostafa Ghobadi, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2016, Volume 3: 18th International Conference on Advanced Vehicle Technologies; 13th International Conference on Design Education; 9th Frontiers in Biomedical Devices, V003T11A010, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60180
https://doi.org/10.1115/DETC2016-60180
View Paper titled, A Robust Method to Improve Estimation Accuracy of Walking Gait Kinematics by Considering Geometrical Constraints on Kinect Data
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Topics: Kinematics, Algorithms, Fittings, Motor controls, Cycles, Gait analysis, Polynomials, Sensors, Uncertainty
Proceedings Papers

Adaptation of Rehabilitation System Based on User’s Mental Engagement

Ehsan T. Esfahani, Shrey Pareek, Pramod Chembrammel, Mostafa Ghobadi, Thenkurussi Kesavadas
Proc. ASME. IDETC-CIE2015, Volume 3: 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices, V003T14A017, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47720
https://doi.org/10.1115/DETC2015-47720
View Paper titled, Adaptation of Rehabilitation System Based on User’s Mental Engagement
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Topics: Brain, Engines, Haptics, Motors, Robotics, Spectral energy distribution
Proceedings Papers

Human Factor Study in Gesture Based CAD Environment

Shrey Pareek, Vaibhav Sharma, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2015, Volume 1B: 35th Computers and Information in Engineering Conference, V01BT02A028, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47707
https://doi.org/10.1115/DETC2015-47707
View Paper titled, Human Factor Study in Gesture Based CAD Environment
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Topics: Computer-aided design, Human factors, Switches
Proceedings Papers

Modeling and Dynamic Parameter Identification of the SCHUNK Powerball Robotic Arm

Amirhossein H. Memar, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A024, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47703
https://doi.org/10.1115/DETC2015-47703
View Paper titled, Modeling and Dynamic Parameter Identification of the SCHUNK Powerball Robotic Arm
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Topics: Modeling, Robotics, Friction, Robots, Design, Dynamic models, Human-robot interaction, Lubricants, Temperature, Trajectories (Physics)
Proceedings Papers

Using Two-Third Power Law for Segmentation of Hand Movement in Robotic Assisted Surgery

Somayeh B. Shafiei, Khurshid A. Guru, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A014, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47813
https://doi.org/10.1115/DETC2015-47813
View Paper titled, Using Two-Third Power Law for Segmentation of Hand Movement in Robotic Assisted Surgery
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Topics: Image segmentation, Robotics, Surgery, Electroencephalography, Trajectories (Physics), Brain, Algorithms, Computer programming, Computers, Motor controls
Proceedings Papers

Simultaneous Output-Only Identification of Physical Parameters and Unknown Inputs for Linear Mechanical Systems

Mostafa Ghobadi, Manoranjan Majji, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2015, Volume 8: 27th Conference on Mechanical Vibration and Noise, V008T13A101, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47659
https://doi.org/10.1115/DETC2015-47659
View Paper titled, Simultaneous Output-Only Identification of Physical Parameters and Unknown Inputs for Linear Mechanical Systems
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Topics: Algorithms, Displacement, Eigenvalues, Engineering simulation, Signals, Simulation
Proceedings Papers

Generation and Optimization of Traveling Vibrating Waves in Self-Assembling Swimming Smart Boxes

Muath Bani-Hani, Iman Borazjani, Ehsan T. Esfahani, Venkat Krovi, M. Amin Karami
Proc. ASME. IDETC-CIE2015, Volume 8: 27th Conference on Mechanical Vibration and Noise, V008T13A092, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47681
https://doi.org/10.1115/DETC2015-47681
View Paper titled, Generation and Optimization of Traveling Vibrating Waves in Self-Assembling Swimming Smart Boxes
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Topics: Optimization, Self-assembly, Waves, Traveling waves, Actuators, Composite materials, Distributed parameter models, Excitation, Fibers, Fourier transforms