Qiang Zhang

Biomedical Program - ENG

https://orcid.org/0000-0002-8806-9672

Robotics control, Control theory, Machine learning-based control, Exoskeletons and prosthesis, Functional electrical stimulation control, Biomechanics, Surface electromyography, Ultrasound imaging

Qiang Zhang received the B.Sc. degree in Mechanical Engineering and the M.Sc. degree in Mechatronics Engineering from Wuhan University (WHU), Wuhan, China, in 2014 and 2017, respectively, the M.Sc. degree in Mechanical Engineering from the University of Pittsburgh, Pittsburgh, PA, USA, in 2019, and the Ph.D. degree in Biomedical Engineering from the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, and North Carolina State University, Raleigh, NC, USA, in 2021. He is an Advanced Rehabilitation Research and Training (ARRT) Post-Doctoral research fellow in the Closed Loop Engineering for Advanced Rehabilitation at the UNC/NCSU Joint Department of Biomedical Engineering in the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, and North Carolina State University, Raleigh, NC, USA. His current research interests include biological signal-based neuromusculoskeletal modeling, human motion intent detection, Lyapunov-based nonlinear control/adaptive control, machine learning-based control, surface electromyography/ultrasound imaging processing, and their applications to wearable robotic devices’ control and next-generation healthcare. Dr. Zhang was a recipient of a number of awards, including the finalist for the Best Student Paper Award of the 2019 IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), the 2021 UNC/NCSU BME Department Ph.D. Student Research Award, and the ASME DSCD Rising Star 2022 Award.

Works (33)

2023 journal article

A clustering-based method for estimating pennation angle from B-mode ultrasound images

Wearable Technologies.

By: X. Bao*, Q. Zhang, N. Fragnito, J. Wang & N. Sharma

Source: ORCID
Added: March 1, 2023

2023 article

Evaluation of a Fused Sonomyography and Electromyography-Based Control on a Cable-Driven Ankle Exoskeleton

Zhang, Q., Lambeth, K., Sun, Z., Dodson, A., Bao, X., & Sharma, N. (2023, February 9). IEEE TRANSACTIONS ON ROBOTICS, Vol. 2.

By: Q. Zhang, K. Lambeth, Z. Sun*, A. Dodson, X. Bao* & N. Sharma

author keywords: Muscles; Torque; Robots; Imaging; Legged locomotion; Neuromuscular; Force; Ankle exoskeleton; assist-as-needed (AAN) control; neuromuscular model; sonomyography; surface electromyography (sEMG); ultrasound (US) imaging
Sources: ORCID, Web Of Science
Added: February 10, 2023

2022 journal article

A deep learning method to predict ankle joint moment during walking at different speeds with ultrasound imaging: A framework for assistive devices control

Wearable Technologies.

By: Q. Zhang, N. Fragnito, X. Bao & N. Sharma

Source: ORCID
Added: October 18, 2022

2022 journal article

An Iterative Learning Controller for a Switched Cooperative Allocation Strategy During Sit-to-Stand Tasks with a Hybrid Exoskeleton

IEEE Transactions on Control Systems Technology, 30(3), 1021–1036.

By: V. Molazadeh*, Q. Zhang, X. Bao* & N. Sharma

author keywords: Iron; Muscles; Exoskeletons; Resource management; Switches; Knee; Control systems; Functional electrical stimulation (FES); hybrid exoskeleton; iterative learning control; neural networks (NNs); powered exoskeleton; virtual constraints
Sources: ORCID, Web Of Science
Added: January 3, 2022

2022 article

Fused Ultrasound And Electromyography-Driven Neuromuscular Model To Improve Plantarflexion Moment Prediction Across Walking Speeds

Zhang, Q., Fragnito, N., Franz, J. R., & Sharma, N. (2022, January 11).

By: Q. Zhang, N. Fragnito n, J. Franz n & N. Sharma

Source: ORCID
Added: January 12, 2022

2022 article

Fused Ultrasound and Electromyography-driven Neuromuscular Model to Improve Plantarflexion Moment Prediction across Walking Speeds

ResearchSquare.

By: Q. Zhang, N. Fragnito, J. Franz & N. Sharma

Source: ORCID
Added: July 28, 2022

2022 journal article

Fused ultrasound and electromyography-driven neuromuscular model to improve plantarflexion moment prediction across walking speeds

Journal of NeuroEngineering and Rehabilitation, 19(1).

By: Q. Zhang, N. Fragnito n, J. Franz n & N. Sharma

author keywords: Human intent prediction; Neuromuscular model; B-mode ultrasound imaging; Surface electromyography; Rehabilitative/assistive robotics; Sensor fusion
Source: ORCID
Added: August 10, 2022

2022 journal article

Imposing Healthy Hip Motion Pattern and Range by Exoskeleton Control for Individualized Assistance

IEEE Robotics and Automation Letters, 7(4), 11126–11133.

By: Q. Zhang, V. Nalam*, X. Tu*, M. Li*, J. Si*, M. Lewek*, H. Huang

author keywords: Assistance personalization; locomotion; policy iteration; prosthetics and exoskeletons; rehabilitation robotics; reinforcement learning
Source: ORCID
Added: October 18, 2022

2022 journal article

Personalized fusion of ultrasound and electromyography-derived neuromuscular features increases prediction accuracy of ankle moment during plantarflexion

BIOMEDICAL SIGNAL PROCESSING AND CONTROL, 71.

By: Q. Zhang, W. Clark*, J. Franz & N. Sharma

author keywords: Ultrasound imaging; Surface electromyography; Isometric ankle plantarflexion; Support vector machine regression; Feedforward neural network; Human effort prediction
Sources: Web Of Science, ORCID
Added: October 4, 2021

2022 article

Trajectory Tracking Control of the Bionic Joint Actuated by Pneumatic Artificial Muscle Based on Robust Modeling

ArXiv.

By: Y. Wang, Q. Zhang & X. Xiao

Source: ORCID
Added: October 21, 2022

2022 journal article

Ultrasound Echogenicity as an Indicator of Muscle Fatigue during Functional Electrical Stimulation

SENSORS, 22(1).

By: Q. Zhang, A. Iyer, K. Lambeth, K. Kim* & N. Sharma

author keywords: muscle fatigue; electrical stimulation; ankle joint; biomechanical phenomena; ultrasonography; linear models; nonlinear dynamics
Sources: Web Of Science, ORCID
Added: January 8, 2022

2022 article

Ultrasound Imaging-Based Closed-Loop Control of Functional Electrical Stimulation for Drop Foot Correction

Zhang, Q., Lambeth, K., Iyer, A., Sun, Z., & Sharma, N. (2022, September 30). IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol. 9.

By: Q. Zhang, K. Lambeth, A. Iyer, Z. Sun & N. Sharma

author keywords: Ankle dorsiflexion; drop foot; functional electrical stimulation (FES); nonlinear control; sampled-data observer (SDO); ultrasound (US) imaging
Sources: ORCID, Web Of Science
Added: October 1, 2022

2022 chapter

Ultrasound-Based Sensing and Control of Functional Electrical Stimulation for Ankle Joint Dorsiflexion: Preliminary Study

In Biosystems and Biorobotics (Vol. 27, pp. 307–311).

By: Q. Zhang, A. Iyer n & N. Sharma

Source: ORCID
Added: July 28, 2022

2021 journal article

A Dual-Modal Approach Using Electromyography and Sonomyography Improves Prediction of Dynamic Ankle Movement: A Case Study

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 29, 1944–1954.

By: Q. Zhang, A. Iyer, Z. Sun, K. Kim* & N. Sharma

author keywords: Imaging; Sensors; Legged locomotion; Feature extraction; Neuromuscular; Dynamics; Biomedical imaging; B-mode ultrasound imaging; surface electromyography; machine learning regression; dynamic ankle dorsiflexion motion; human limb intent
Sources: Web Of Science, ORCID
Added: September 28, 2021

2021 conference paper

A Tube-based Model Predictive Control Method for Joint Angle Tracking with Functional Electrical Stimulation and An Electric Motor Assist

2021 American Control Conference (ACC), 2021-May, 1390–1395.

By: Z. Sun n, X. Bao*, Q. Zhang, K. Lambeth n & N. Sharma

Event: 2021 American Control Conference (ACC)

Sources: ORCID, Crossref
Added: September 23, 2021

2021 journal article

Evaluation of Non-Invasive Ankle Joint Effort Prediction Methods for Use in Neurorehabilitation Using Electromyography and Ultrasound Imaging

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 68(3), 1044–1055.

By: Q. Zhang, A. Iyer, K. Kim* & N. Sharma

author keywords: Neuromuscular; Biomedical measurement; Force; Mathematical model; Imaging; Dynamics; Ankle dorsiflexion; electromyography; feedforward neural network; linear regression; neuromuscular model; ultrasound imaging
Sources: Web Of Science, ORCID
Added: March 22, 2021

2021 conference paper

Plantarflexion Moment Prediction during the Walking Stance Phase with an sEMG-Ultrasound Imaging-Driven Model

2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2021-January, 6267–6272.

By: Q. Zhang, N. Fragnito, A. Myers & N. Sharma

Event: 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society at Mexico on November 1-5, 2021

Sources: Web Of Science, ORCID
Added: April 25, 2022

2021 journal article

Shared Control of a Powered Exoskeleton and Functional Electrical Stimulation Using Iterative Learning

FRONTIERS IN ROBOTICS AND AI, 8.

author keywords: exoskeleton; wearable robot; shared control; iterative learning; functional electrical stimulation (FES)
Sources: Web Of Science, ORCID
Added: November 29, 2021

2021 conference paper

Ultrasound Echogenicity-based Assessment of Muscle Fatigue During Functional Electrical Stimulation

2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 5948–5952.

By: Q. Zhang, A. Iyer, K. Lambeth, K. Kim* & N. Sharma

Event: 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society at Mexico on November 1-5, 2021

Sources: Web Of Science, ORCID
Added: April 25, 2022

2020 conference paper

Analysis of Tremor During Grasp Using Ultrasound Imaging: Preliminary Study

Proceedings of the 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2020-November, 533–538.

By: A. Iyer n, Z. Sheng, Q. Zhang, K. Kim* & N. Sharma

Event: 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) at New York on November 29 - December 1, 2020

Sources: ORCID, NC State University Libraries
Added: September 23, 2021

2020 journal article

Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot

FRONTIERS IN NEUROROBOTICS, 14.

By: Q. Zhang, D. Sun*, W. Qian*, X. Xiao* & Z. Guo*

author keywords: series elastic actuator (SEA); rehabilitation robot; bowden cable; torque control; impedance control; disturbance observer (DOB)
Sources: Web Of Science, ORCID
Added: April 27, 2020

2020 journal article

Prediction of Ankle Dorsiflexion Moment by Combined Ultrasound Sonography and Electromyography

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 28(1), 318–327.

By: Q. Zhang, K. Kim* & N. Sharma

author keywords: Ankle dorsiflexion; voluntary contraction force; ultrasound sonography; electromyography; pennation angle; muscle fascicle; neuromusculoskeletal model
Sources: Web Of Science, ORCID
Added: February 3, 2020

2020 conference paper

Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation

[Paper]. Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, 1(DSCC2020-3225).

By: Q. Zhang, A. Iyer n, Z. Sun n, A. Dodson n & N. Sharma

Event: ASME 2020 Dynamic Systems and Control Conference on October 5-7, 2020

Sources: ORCID, Crossref
Added: September 23, 2021

2020 conference paper

Volitional Contractility Assessment of Plantar Flexors by Using Non-invasive Neuromuscular Measurements

2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020-November, 515–520.

By: Q. Zhang, A. Iyer n, K. Kim* & N. Sharma

Event: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

Sources: ORCID, Crossref
Added: September 23, 2021

2019 conference paper

Ankle Dorsiflexion Strength Monitoring by Combining Sonomyography and Electromyography

2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), 2019-June, 240–245.

By: Q. Zhang, Z. Sheng, F. Moore-Clingenpeel*, K. Kim* & N. Sharma

Event: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) at Toronto, Ontario, Canada on June 24-28, 2019

Sources: ORCID, Crossref
Added: September 23, 2021

2019 conference paper

Neural-network based iterative learning control of a hybrid exoskeleton with an MPC allocation strategy

ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, 1(DSCC2019-9191).

By: V. Molazadeh*, Q. Zhang, X. Bao* & N. Sharma

Source: ORCID
Added: July 28, 2022

2019 conference paper

Observer Design for a Nonlinear Neuromuscular System with Multi-rate Sampled and Delayed Output Measurements

2019 American Control Conference (ACC), 2019-July, 872–877.

By: Q. Zhang, Z. Sheng, K. Kim* & N. Sharma

Event: 2019 American Control Conference (ACC)

Sources: ORCID, Crossref
Added: September 23, 2021

2017 book

Design and modeling of a compact rotary series elastic actuator for an elbow rehabilitation robot

In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 44–56).

By: Q. Zhang, B. Xu*, Z. Guo* & X. Xiao*

author keywords: Series elastic actuator (SEA); PD feedback control; Torque control; Elbow rehabilitation robot
Source: ORCID
Added: October 21, 2022

2016 journal article

Effects of Ground Compliance on Bipedal Robot Walking Dynamic Property

Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'Eng Hsuebo Pao, 37(4), 335–342. http://www.scopus.com/inward/record.url?eid=2-s2.0-85025162616&partnerID=MN8TOARS

By: Q. Zhang, Y. Wang & X. Xiao

Source: ORCID
Added: October 21, 2022

2016 book

Power efficiency-based stiffness optimization of a compliant actuator for underactuated bipedal robot

In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 186–197).

By: Q. Zhang, X. Xiao* & Z. Guo*

author keywords: Compliant actuator; Underactuated bipedal robot; Feedback linearization; Trajectory tracking; Power efficiency
Source: ORCID
Added: October 21, 2022

2016 journal article

Trajectory tracking control of the bionic joint actuated by pneumatic artificial muscle based on robust modeling

Jiqiren/Robot, 38(2), 248–256.

By: Y. Wang, Q. Zhang & X. Xiao

Source: ORCID
Added: October 21, 2022

2015 book

A study of flexible energy-saving joint for biped robots considering sagittal plane motion

In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9245, pp. 333–344).

By: Q. Zhang, L. Teng*, Y. Wang*, T. Xie* & X. Xiao*

author keywords: Flexible joint; Biped robot; Joint stiffness; Gait planning; Energy consumption
Source: ORCID
Added: October 21, 2022

2015 journal article

Compliant joint for biped robot considering energy consumption optimization

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology), 46(11), 4070–4076.

By: Q. Zhang, X. Xiao, Y. Wang, P. You & T. Xie

Source: ORCID
Added: October 21, 2022