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. more

Works (33)

Updated: April 25th, 2025 08:45

2023 article

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

Bao, X., Zhang, Q., Fragnito, N., Wang, J., & Sharma, N. (2023, January 1). Wearable Technologies.

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

topics (OpenAlex): Muscle activation and electromyography studies; Cerebral Palsy and Movement Disorders; Diabetic Foot Ulcer Assessment and Management
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)
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 n , K. Lambeth n, Z. Sun, A. Dodson n, X. Bao * & N. Sharma n 

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
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery
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Sources: ORCID, Web Of Science, NC State University Libraries
Added: February 10, 2023

2022 article

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

Zhang, Q., Fragnito, N., Bao, X., & Sharma, N. (2022, January 1). Wearable Technologies.

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

topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Stroke Rehabilitation and Recovery
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 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 , N. Fragnito n, J. Franz  n & N. Sharma n 

topics (OpenAlex): Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery; EEG and Brain-Computer Interfaces; Prosthetics and Rehabilitation Robotics
UN Sustainable Development Goals Color Wheel
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.

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

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

topics (OpenAlex):
Source: ORCID
Added: July 28, 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, August 9). Journal of NeuroEngineering and Rehabilitation, Vol. 19.

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

Contributors: Q. Zhang 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
topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Stroke Rehabilitation and Recovery
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 Goals Color Wheel
UN Sustainable Development Goal Categories
3. Good Health and Well-being (OpenAlex)
Source: ORCID
Added: August 10, 2022

2022 article

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

Zhang, Q., Nalam, V., Tu, X., Li, M., Si, J., Lewek, M. D., & Huang, H. H. (2022, August 5). IEEE Robotics and Automation Letters, Vol. 7, pp. 11126–11133.

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

Contributors: 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
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Mechanical Circulatory Support Devices
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 article

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

Wang, Y., Zhang, Q., & Xiao, X.-hui. (2022, August 10). ArXiv (Cornell University).

By: Y. Wang, Q. Zhang*  & X. Xiao

Contributors: Y. Wang, Q. Zhang*  & X. Xiao

topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery
Source: ORCID
Added: October 21, 2022

2022 article

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

Zhang, Q., Iyer, A., Lambeth, K., Kim, K., & Sharma, N. (2022, January 3). Sensors, Vol. 1.

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

Contributors: Q. Zhang 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
topics (OpenAlex): Muscle activation and electromyography studies; Advanced Sensor and Energy Harvesting Materials; Electrical and Bioimpedance Tomography
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.

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

Contributors: Q. Zhang 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
topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Cerebral Palsy and Movement Disorders
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

2021 article

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

Zhang, Q., Iyer, A., Sun, Z., Kim, K., & Sharma, N. (2021, January 1). IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 29, pp. 1944–1954.

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

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

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
topics (OpenAlex): Muscle activation and electromyography studies; Advanced Sensor and Energy Harvesting Materials; Prosthetics and Rehabilitation Robotics
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.

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

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

Event: 2021 American Control Conference (ACC)

topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery
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)
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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

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 n , X. Bao * & N. Sharma n 

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

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
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Spinal Cord Injury Research
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 3, 2022

2021 article

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

Zhang, Q., Clark, W. H., Franz, J. R., & Sharma, N. (2021, September 2). Biomedical Signal Processing and Control, Vol. 1.

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

Contributors: Q. Zhang 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
topics (OpenAlex): Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery; Cerebral Palsy and Movement Disorders
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

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* 

Contributors: 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

MeSH headings : Ankle / diagnostic imaging; Ankle Joint / diagnostic imaging; Electromyography; Humans; Ultrasonography; Walking
topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Stroke Rehabilitation and Recovery
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 article

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

Molazadeh, V., Zhang, Q., Bao, X., Dicianno, B. E., & Sharma, N. (2021, November 3). Frontiers in Robotics and AI, Vol. 11.

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

Contributors: V. Molazadeh *, Q. Zhang n , X. Bao *, B. Dicianno * & N. Sharma n 

author keywords: exoskeleton; wearable robot; shared control; iterative learning; functional electrical stimulation (FES)
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Spinal Cord Injury Research
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.

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

Contributors: 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

MeSH headings : Electric Stimulation; Electromyography; Humans; Isometric Contraction; Muscle Fatigue; Ultrasonography
topics (OpenAlex): Muscle activation and electromyography studies; Electrical and Bioimpedance Tomography; Advanced Sensor and Energy Harvesting Materials
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

2021 article

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

Zhang, Q., Iyer, A., & Sharma, N. (2021, July 1). Biosystems & Biorobotics, Vol. 27, pp. 307–311.

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

Contributors: Q. Zhang* , A. Iyer * & N. Sharma* 

topics (OpenAlex): Muscle activation and electromyography studies; Effects of Vibration on Health; Knee injuries and reconstruction techniques
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

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 n , K. Kim * & N. Sharma n 

Contributors: A. Iyer  n, Z. Sheng *, Q. Zhang 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

topics (OpenAlex): Neurological disorders and treatments; Parkinson's Disease Mechanisms and Treatments; Muscle activation and electromyography studies
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 article

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

Zhang, Q., Iyer, A., Kim, K., & Sharma, N. (2020, August 6). IEEE Transactions on Biomedical Engineering, Vol. 68, pp. 1044–1055.

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

Contributors: Q. Zhang n , A. Iyer n, 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
MeSH headings : Ankle Joint / diagnostic imaging; Electromyography; Humans; Isometric Contraction; Muscle, Skeletal / diagnostic imaging; Neurological Rehabilitation; Ultrasonography
topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Stroke Rehabilitation and Recovery
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

2020 article

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

Zhang, Q., Sun, D., Qian, W., Xiao, X., & Guo, Z. (2020, February 25). Frontiers in Neurorobotics, Vol. 14.

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

Contributors: Q. Zhang n , 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)
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Mechanical Circulatory Support Devices
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 Goals Color Wheel
UN Sustainable Development Goal Categories
14. Life Below Water (OpenAlex)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: April 27, 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 n , A. Iyer  n, Z. Sun  n, A. Dodson n & N. Sharma n 

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

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

topics (OpenAlex): Muscle activation and electromyography studies; Spinal Cord Injury Research; Stroke Rehabilitation and Recovery
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.

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

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

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

topics (OpenAlex): Muscle activation and electromyography studies; Non-Invasive Vital Sign Monitoring; Motor Control and Adaptation
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 Goals Color Wheel
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.

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

Contributors: 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

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
topics (OpenAlex): Muscle activation and electromyography studies; Non-Invasive Vital Sign Monitoring; Sports injuries and prevention
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 article

Neural-Network Based Iterative Learning Control of a Hybrid Exoskeleton With an MPC Allocation Strategy

Molazadeh, V., Zhang, Q., Bao, X., & Sharma, N. (2019, November 26). ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, Vol. 1.

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

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

topics (OpenAlex): Iterative Learning Control Systems
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.

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

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

Event: 2019 American Control Conference (ACC)

topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Neuroscience and Neural Engineering
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 Goals Color Wheel
UN Sustainable Development Goal Categories
3. Good Health and Well-being (OpenAlex)
Sources: ORCID, Crossref, NC State University Libraries
Added: September 23, 2021

2019 article

Prediction of Ankle Dorsiflexion Moment by Combined Ultrasound Sonography and Electromyography

Zhang, Q., Kim, K., & Sharma, N. (2019, November 15). IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 28, pp. 318–327.

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

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

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
topics (OpenAlex): Muscle activation and electromyography studies; EEG and Brain-Computer Interfaces; Stroke Rehabilitation and Recovery
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 Goals Color Wheel
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

2017 article

Design and Modeling of a Compact Rotary Series Elastic Actuator for an Elbow Rehabilitation Robot

Zhang, Q., Xu, B., Guo, Z., & Xiao, X. (2017, January 1). Lecture Notes in Computer Science, pp. 44–56.

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

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

author keywords: Series elastic actuator (SEA); PD feedback control; Torque control; Elbow rehabilitation robot
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Mechanical Circulatory Support Devices
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 Goals Color Wheel
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

By: Q. Zhang , Y. Wang & X. Xiao

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

www.scopus.com
Source: ORCID
Added: October 21, 2022

2016 article

Power Efficiency-Based Stiffness Optimization of a Compliant Actuator for Underactuated Bipedal Robot

Zhang, Q., Xiao, X., & Guo, Z. (2016, January 1). Lecture Notes in Computer Science, pp. 186–197.

By: Q. Zhang* , X. Xiao * & Z. Guo *

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

author keywords: Compliant actuator; Underactuated bipedal robot; Feedback linearization; Trajectory tracking; Power efficiency
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Robotic Locomotion and Control; Soft Robotics and Applications
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 Goals Color Wheel
UN Sustainable Development Goal Categories
7. Affordable and Clean Energy (OpenAlex)
Source: ORCID
Added: October 21, 2022

2016 article

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

Jiqiren/Robot, Vol. 38, pp. 248–256.

By: Y. Wang, Q. Zhang  & X. Xiao

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

topics (OpenAlex):
Source: ORCID
Added: October 21, 2022

2015 article

A Study of Flexible Energy-Saving Joint for Biped Robots Considering Sagittal Plane Motion

Zhang, Q., Teng, L., Wang, Y., Xie, T., & Xiao, X. (2015, January 1). Lecture Notes in Computer Science, Vol. 9245, pp. 333–344.

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

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

author keywords: Flexible joint; Biped robot; Joint stiffness; Gait planning; Energy consumption
topics (OpenAlex): Robotic Locomotion and Control; Prosthetics and Rehabilitation Robotics; Soft Robotics and Applications
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 Goals Color Wheel
UN Sustainable Development Goal Categories
7. Affordable and Clean Energy (OpenAlex)
Source: ORCID
Added: October 21, 2022

2015 article

Compliant joint for biped robot considering energy consumption optimization

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

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

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

topics (OpenAlex):
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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