Qiang Zhang
Robotics control, Control theory, Machine learning-based control, Exoskeletons and prosthesis, Functional electrical stimulation control, Biomechanics, Surface electromyography, Ultrasound imaging
Dr. Qiang Zhang is a tenure-track assistant professor in the Department of Mechanical Engineering at the University of Alabama. 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 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. Between 11/2021 and 08/2023, he was an Advanced Rehabilitation Research and Training (ARRT) Post-Doctoral research fellow in the Closed Loop Engineering for Advanced Rehabilitation (CLEAR) core in the UNC/NCSU Joint Department of Biomedical Engineering at the University of North Carolina at Chapel Hill, Chapel Hill, NC, USA, and North Carolina State University, Raleigh, NC, USA. Dr. Zhang has published his research work in various scientific peer-reviewed journals and peer-reviewed conferences of IEEE, EMB, BMC, CSS, RAS, IFAC, and ASME societies. During his undergraduate, graduate, and postdoctoral careers, Dr. Zhang received several academic awards. For example, one of six finalists for the Best Student Paper Award at the 16th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2019), the BME Department Ph.D. Student Research Award in 2021, the ASME DSCD Rising Star 2022 Award, the 2023 Dean’s Distinguished Dissertation Award at UNC-Chapel Hill, one of the three finalists of the Journal of Biomechanics Award, the Diversity Travel Award at the 2023 American Society of Biomechanics, and one of five finalists at the 2023 NIDILRR-sponsored Early Career Investigator Symposium.
Works (33)
Updated: August 15th, 2023 21:15
2023 journal article
A clustering-based method for estimating pennation angle from B-mode ultrasound images
Wearable Technologies.
TL;DR:
A clustering-based detection method that can mimic a well-trained human expert in identifying fascicle and aponeurosis and, therefore, compute the pennation angle is proposed and shows promising potential in automatic muscle fascicle orientation detection to facilitate implementations in biomechanics modeling, rehabilitation robot control design, and neuromuscular disease diagnosis with low-frequency data stream.
(via Semantic Scholar)
www.cambridge.org (publisher PDF)
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.
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
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: ORCID, Web Of Science, NC State University Libraries
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.
TL;DR:
The findings show that the US imaging + deep learning approach personalizes the assessment of human joint voluntary effort, which can be incorporated with assistive or rehabilitative devices to improve clinical performance based on the assist-as-needed control strategy.
(via Semantic Scholar)
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.
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, NC State University Libraries
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).
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
Source: ORCID
Added: January 12, 2022
2022 article
Fused Ultrasound and Electromyography-driven Neuromuscular Model to Improve Plantarflexion Moment Prediction across Walking Speeds
ResearchSquare.
Contributors: , 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).
Contributors: n , N. Fragnito n, J. Franz n & N. Sharma n
author keywords: Human intent prediction; Neuromuscular model; B-mode ultrasound imaging; Surface electromyography; Rehabilitative/assistive robotics; Sensor fusion
MeSH headings : Ankle Joint / physiology; Electromyography / methods; Humans; Muscle, Skeletal / diagnostic imaging; Muscle, Skeletal / physiology; Walking / physiology; Walking Speed
TL;DR:
The proposed sEMG-US imaging-driven Hill-type neuromuscular model can significantly improve the net plantarflexion moment prediction accuracy across multiple walking speeds, implying that the proposed HNM can be potentially used in bio-inspired control strategies for rehabilitative devices due to its superior prediction.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
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.
Contributors: * , 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
TL;DR:
A model-free reinforcement learning (RL)-based control framework to achieve a normative range of motion and gait pattern of the hip joint during walking and provides personalized assistance torque profile by heuristically manipulating three control parameters for hip flexion and extension, respectively, during walking.
(via Semantic Scholar)
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.
Contributors: n , W. Clark n, J. Franz n & N. Sharma n
author keywords: Ultrasound imaging; Surface electromyography; Isometric ankle plantarflexion; Support vector machine regression; Feedforward neural network; Human effort prediction
TL;DR:
Findings indicate that the combination of sEMG signals and US imaging is a superior sensing modality for predicting human plantarflexion intention and can enable future clinical rehabilitation devices.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: October 4, 2021
2022 article
Trajectory Tracking Control of the Bionic Joint Actuated by Pneumatic Artificial Muscle Based on Robust Modeling
ArXiv.
Source: ORCID
Added: October 21, 2022
2022 journal article
Ultrasound Echogenicity as an Indicator of Muscle Fatigue during Functional Electrical Stimulation
SENSORS, 22(1).
Contributors: n , A. Iyer n, K. Lambeth n, K. Kim * & N. Sharma n
author keywords: muscle fatigue; electrical stimulation; ankle joint; biomechanical phenomena; ultrasonography; linear models; nonlinear dynamics
MeSH headings : Electric Stimulation; Humans; Isometric Contraction; Muscle Contraction; Muscle Fatigue; Muscle, Skeletal; Ultrasonography
TL;DR:
The findings in this study indicate that the US echogenicity signal is a computationally efficient signal that strongly represents FES-induced muscle fatigue and its potential real-time implementation to detect fatigue can facilitate an FES closed-loop controller design that considers the Fes- induced muscle fatigue.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
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.
Contributors: n , K. Lambeth n, A. Iyer n, Z. Sun n & N. Sharma n
author keywords: Ankle dorsiflexion; drop foot; functional electrical stimulation (FES); nonlinear control; sampled-data observer (SDO); ultrasound (US) imaging
TL;DR:
The use of ultrasound (US) echogenicity as an indicator of FES-evoked muscle activation is explored and a methodology to integrate US in an FES control framework is provided, which will likely benefit persons with drop foot and those with other mobility disorders.
(via Semantic Scholar)
Sources: ORCID, Web Of Science, NC State University Libraries
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).
TL;DR:
An ultrasound (US) imaging approach is proposed to observe muscle activation and fatigue levels during FES-elicited ankle dorsiflexors and shows the effectiveness of the proposed control method, and the superior tracking performance compared to a traditional control method where the muscleactivation and fatigue are computed from an off-line identified model.
(via Semantic Scholar)
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.
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
MeSH headings : Ankle; Ankle Joint; Electromyography; Humans; Movement; Muscle, Skeletal
TL;DR:
The findings show that potentially the dual-modal sensing approach can be used as a superior sensing modality to predict human intent of a continuous motion and implemented for volitional control of clinical rehabilitative and assistive devices.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
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.
Contributors: Z. Sun n, X. Bao *, n , K. Lambeth n & N. Sharma n
Event: 2021 American Control Conference (ACC)
TL;DR:
A novel tube-based MPC method for tracking control of a human limb angle by cooperatively using FES and electric motor inputs is derived and shows robust performance despite modeling uncertainties.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
16. Peace, Justice and Strong Institutions
(OpenAlex)
Sources: ORCID, Crossref, NC State University Libraries
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.
author keywords: Neuromuscular; Biomedical measurement; Force; Mathematical model; Imaging; Dynamics; Ankle dorsiflexion; electromyography; feedforward neural network; linear regression; neuromuscular model; ultrasound imaging
MeSH headings : Ankle Joint / diagnostic imaging; Electromyography; Humans; Isometric Contraction; Muscle, Skeletal / diagnostic imaging; Neurological Rehabilitation; Ultrasonography
TL;DR:
A comparative study of ultrasound imaging (US)-derived neuromuscular signals and sEMG signals for their use in predicting isometric ankle dorsiflexion moment indicates FFNN or HNM approach and using pennation angle or fascicle length predict human ankle movement intent with higher accuracy.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
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.
Contributors: * , 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
MeSH headings : Ankle / diagnostic imaging; Ankle Joint / diagnostic imaging; Electromyography; Humans; Ultrasonography; Walking
TL;DR:
The findings show that the sEMG-US imaging-driven MLM can significantly improve the prediction of net PF moment during the walking stance phase at multiple speeds and potentially can be used as a superior joint motion intent model in advanced and intelligent control strategies for rehabilitative exoskeletons.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries, 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.
Contributors: V. Molazadeh*, n , X. Bao *, B. Dicianno * & N. Sharma n
author keywords: exoskeleton; wearable robot; shared control; iterative learning; functional electrical stimulation (FES)
Sources: Web Of Science, NC State University Libraries, 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.
Contributors: * , 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
MeSH headings : Electric Stimulation; Electromyography; Humans; Isometric Contraction; Muscle Fatigue; Ultrasonography
TL;DR:
The findings indicate that US echogenicity may be a promising computationally efficient indicator for assessing FES-induced muscle fatigue and may aid in the design of muscle-in-the-loop FES controllers that consider the onset of muscle fatigue.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries, 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.
Contributors: A. Iyer n, Z. Sheng *, n , K. Kim & N. Sharma n
Event: 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) at New York on November 29 - December 1, 2020
TL;DR:
The frequency for tremor participants fall within accepted frequency ranges for Parkinson’s Disease and Essential Tremor, and thus can be representative of the actual tremor frequency.
(via Semantic Scholar)
Sources: ORCID, NC State University Libraries, 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.
author keywords: series elastic actuator (SEA); rehabilitation robot; bowden cable; torque control; impedance control; disturbance observer (DOB)
TL;DR:
The preliminary results show that this new kind of actuation can not only implement stable and friendly actuation over a long distance but also be customized to meet the requirements of other robotic system design.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
11. Sustainable Cities and Communities
(Web of Science)
14. Life Below Water
(OpenAlex)
Sources: Web Of Science, NC State University Libraries, 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.
author keywords: Ankle dorsiflexion; voluntary contraction force; ultrasound sonography; electromyography; pennation angle; muscle fascicle; neuromusculoskeletal model
MeSH headings : Adult; Algorithms; Ankle / diagnostic imaging; Ankle / physiology; Ankle Joint / diagnostic imaging; Ankle Joint / physiology; Biomechanical Phenomena; Electric Stimulation; Electromyography / methods; Humans; Isometric Contraction; Male; Movement / physiology; Muscle, Skeletal / physiology; Self-Help Devices; Ultrasonography / methods; Young Adult
TL;DR:
A new model-based intention detection method that combines signals from both surface electromyography (sEMG) and ultrasound (US) sonography to predict isometric volitional ankle dorsiflexion moment is proposed, which has a better prediction accuracy compared to a prediction model that uses sole sEMG or sole US sonography.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
Sources: Web Of Science, ORCID, NC State University Libraries
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).
Event: ASME 2020 Dynamic Systems and Control Conference on October 5-7, 2020
TL;DR:
Stability analysis based on the Lyapunov-Krasovskii function proves that the SDO-based DSC plus delay compensation (SDO-DSC-DC) approach achieves semi-global uniformly ultimately bounded (SGUUB) tracking performance.
(via Semantic Scholar)
Sources: ORCID, Crossref, NC State University Libraries
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.
Event: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
TL;DR:
US imaging can be used as a new sensing modality to measure or predict human lower limb motion intent in clinical rehabilitation devices and imply that using US imagingderived signals improves the accuracy of predicting volitional effort on human plantar flexors.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
Sources: ORCID, Crossref, NC State University Libraries
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.
Contributors: * , 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
MeSH headings : Adult; Ankle / physiology; Electromyography; Humans; Isometric Contraction / physiology; Linear Models; Male; Muscle, Skeletal / physiology; Range of Motion, Articular / physiology; Signal Processing, Computer-Assisted; Ultrasonics
TL;DR:
The new method shows an improved linear correlation with the muscle strength, compared to the correlations between the Muscle strength and sole sEMG signal or sole PA signal, where the R-squared values are improved by 4.21 % and 1.99 %.
(via Semantic Scholar)
Sources: ORCID, Crossref, NC State University Libraries
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).
TL;DR:
A novel neural network based iterative learning controller for a hybrid exoskeleton uses a model predictive control strategy to address modeling uncertainties and stabilizes the hybrid system for sitting to standing and standing to sitting scenarios.
(via Semantic Scholar)
Sources: ORCID, NC State University Libraries
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.
Contributors: * , Z. Sheng *, K. Kim & N. Sharma*
Event: 2019 American Control Conference (ACC)
TL;DR:
An observer design is proposed to estimate ankle kinematics that are elicited volitionally by constructing a Lyapunov-Krasovskii function, sufficient conditions are derived to prove the exponential stability of the estimation error.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(OpenAlex)
Sources: ORCID, Crossref, NC State University Libraries
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).
author keywords: Series elastic actuator (SEA); PD feedback control; Torque control; Elbow rehabilitation robot
TL;DR:
The compliant SEA ensures inherent safety and improves torque control at the elbow joint of this rehabilitation robot, and shows an excellent torque tracking performance at low motion frequency, which can satisfy the elbow rehabilitation training requirement.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
14. Life Below Water
(OpenAlex)
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
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).
author keywords: Compliant actuator; Underactuated bipedal robot; Feedback linearization; Trajectory tracking; Power efficiency
TL;DR:
The simulation results indicate that, compared with the actuator maintaining very high stiffness like a rigid actuator, the power efficiency of the compliant actuator is improved, and the stiffness optimized to 375 N•m/rad can reach the highest power efficiency.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
7. Affordable and Clean Energy
(OpenAlex)
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.
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).
author keywords: Flexible joint; Biped robot; Joint stiffness; Gait planning; Energy consumption
TL;DR:
The results show that the flexible joint can reduce the joint motor’s peak torque and energy consumption and there is an optimal joint stiffness of the flexible system.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
7. Affordable and Clean Energy
(OpenAlex)
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.
Source: ORCID
Added: October 21, 2022
Employment
Updated: November 3rd, 2023 23:24
2023 - present
University of Alabama Tuscaloosa, AL, US
Assistant Professor
The Department of Mechanical Engineering
2021 - 2023
University of North Carolina at Chapel Hill Chapel Hill, NC, US
Postdoctoral research fellow
UNC/NCSU Joint Department of Biomedical Engineering
2021 - 2023
North Carolina State University Raleigh, NC, US
Postdoctoral research fellow
UNC/NCSU Joint Department of Biomedical Engineering
Education
Updated: November 3rd, 2023 23:33
2019 - 2021
University of North Carolina at Chapel Hill Chapel Hill, NC, US
Ph.D.
UNC/NCSU Joint Department of Biomedical Engineering
2019 - 2021
North Carolina State University Raleigh, NC, US
Ph.D.
UNC/NCSU Joint Department of Biomedical Engineering
2017 - 2019
University of Pittsburgh Pittsburgh, PA, US
M.S.
Department of Mechanical Engineerin
2014 - 2017
Wuhan University Wuhan, Hubei Province, CN
M.S.
Mechanical Engineering
2010 - 2014
Wuhan University Wuhan, Hubei Province, CN
B.S.
Mechanical Engineering
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