Please go to Google Scholar, ResearchGate, or ORCiD for a full publication list.
Book Chapter Publications
2024
[B1] Q. Zhang*, Z. Damiano, M. Sharifi, M. Kim, and Z. Li, “Closing the Loop Between Wearable Robots and Machine Learning: A New Paradigm for Steering Assistance Personalization Control“, Discovering the Frontiers of Human-Robot Interaction: Insights and Innovations in Collaboration, Communication, and Control: 65, 2024.
Journal Publications
2025
[J22] M. Sharifi*, S. Tripathi, Y. Chen, Q. Zhang, and M. Tavakoli, “Reinforcement Learning Methods for Assistive and Rehabilitation Robotic Systems: Survey,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2025, Accepted.
[J21] D. Rodriguez-Jorge, S. Zhang, J. S. Huang, I. Lopez-Sanchez, N. Srinivasan, Q. Zhang, X. Zhou, and H. Su, “Biomechanics-informed mechatronics design of comfort-centered portable hip exoskeleton: Actuator, wearable interface, controller,” IEEE Trans. Med. Robot. Bionics, 2025, Accepted.
2024
[J20] Q. Zhang*, N. Hakam, O. Akinniyi, A. Iyer, X. Bao & N. Sharma, “AnkleImage – An ultrafast ultrasound image dataset to understand the ankle joint muscle contractility,” Scientific Data, 11(1), 1439, 2024.
[J19] Q. Zhang, J. Si, X. Tu, M. Li, M. D. Lewek, and H. Huang*, “Toward task-independent optimal adaptive control of a hip exoskeleton for locomotion assistance in neurorehabilitation,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024.
[J18] F. Yan, J. Gong, Q. Zhang, and H. He*, “Learning Motion Primitives for the Quantification and Diagnosis of Mobility Deficits“, IEEE Transactions on Biomedical Engineering, DOI: 10.1109/TBME.2024.3404357, 2024.
2023
[J17] X. Bao, Q. Zhang, N. Fragnito, J. Wang, & N. Sharma*, “A clustering-based method for estimating pennation angle from B-mode ultrasound images“, Wearable Technologies, 4 (2023): e6.
[J16] Q. Zhang, K. Lambeth, Z. Sun, A. Dodson, X. Bao, and N. Sharma*, “Evaluation of a Fused Sonomyography and Electromyography-based Control on a Cable-Driven Ankle Exoskeleton”, IEEE Trans. Robot., 39 (3), pp. 2183 – 2202, 2023.
[J15] Q. Zhang, K. Lambeth, A. Iyer, Z. Sun, and N. Sharma*, “Ultrasound Imaging-based Closed-Loop Control of Functional Electrical Stimulation for Drop Foot Correction”, IEEE Trans. Control Syst. Technol., 31(3), pp. 989-1005, 2023.
2022
[J14] Q. Zhang, N. Fragnito, X. Bao, and N. Sharma*, “A Deep Learning Method to Predict Ankle Joint Moment during Versatile Walking Tasks with Ultrasound Imaging: A Framework for Assistive Devices Control”, Wearable Technologies, 3 (2022): e20.
[J13] Q. Zhang, V. Nalam, X. Tu, M. Li, J. Si, M. Lewek, and H. Huang*, “Imposing Healthy Hip Movement Pattern and Range by Exoskeleton Control for Individualized Assistance”, IEEE Robot. Autom. Lett., 7 (4), pp. 11126-11133, 2022.
[J12] Q. Zhang, A. Myers, N. Fragnito, J. R. Franz, and N. Sharma*, “Fused Ultrasound And Electromyography-Driven Neuromuscular Model To Improve Plantarexion Moment Prediction Across Walking Speeds”, J. Neuroeng. Rehabil., vol. 19, no. 86, 2022.
[J11] Q. Zhang, W. H. Clark, J. R. Franz, and N. Sharma*, “Personalized Fusion of Ultrasound and Electromyography-Derived Neuromuscular Features Increases Prediction Accuracy of Ankle Moment during Plantarflexion,” Biomed. Signal Process Control, vol. 71, pp. 103100, 2022.
[J10] Q. Zhang, A. Iyer, K. Lambeth, K. Kim, and N. Sharma*, “Ultrasound Echogenicity as an Indicator of Muscle Fatigue during Functional Electrical Stimulation,” Sensors, vol. 22, no. 1, pp. 335, 2022.
[J9] M. Vahidreza, Q. Zhang, X. Bao, and N. Sharma*, “An Iterative Learning Controller for a Switched Cooperative Allocation Strategy During Sit-to-Stand Tasks with a Hybrid Exoskeleton”, IEEE Trans. Control Syst. Technol., vol. 30, no. 3, pp. 1021-1036, 2022.
2021
[J8] Q. Zhang, A. Iyer, Z. Sun, K. Kim, and N. Sharma*, “A Dual-Modal Approach Using Electromyography and Sonomyography Improves Prediction of Dynamic Ankle Movement: A Case Study”, IEEE Trans. Neural Syst. Rehabil. Eng., vol. 29, pp. 1944-1954, 2021.
[J7] Q. Zhang, A. Iyer, K. Kim*, and N. Sharma*, “Evaluation of Noninvasive Ankle Joint Effort Prediction Methods for Use in Neurorehabilitation Using Electromyography and Ultrasound Imaging,” IEEE Trans. Biomed. Eng., vol. 68, no. 3, pp. 1044–1055, 2021.
[J6] M. Vahidreza, Q. Zhang, X. Bao, B. Dicianno, and N. Sharma*, “Shared Control of a Powered Exoskeleton and Functional Electrical Stimulation using Iterative Learning and Fatigue Optimization”, Front. Robot. AI, 8: 711388, 2021.
2020
[J5] Q. Zhang, K. Kim*, and N. Sharma*, “Prediction of Ankle Dorsiflexion Moment by Combined Ultrasound Sonography and Electromyography,” IEEE Trans. Neural Syst. Rehabil. Eng., vol. 28, no. 1, pp. 318–327, 2020.
[J4] Q. Zhang, D. Sun, W. Qian, X. Xiao, and Z. Guo*, “Modeling and control of a cable-driven rotary series elastic actuator for an upper limb rehabilitation robot,” Front. Neurorobot., vol. 14, pp. 13, 2020.
Before 2020
[J3] Q. Zhang, Y. Wang, and X. H. Xiao*, “Effects of Ground Compliance on Bipedal Robot Walking Dynamic Property”, Journal of the Chinese Society of Mechanical Engineers, 2016, 37(4): 335-342.
[J2] Y. Wang, Q. Zhang, and X. H. Xiao*, “Trajectory Tracking Control of the Bionic Joint Actuated by Pneumatic Artificial Muscle Based on Robust Modeling,” ROBOT, 2016, 38(2): 248-256. (In Chinese)
[J1] Q. Zhang, X. H. Xiao*, Y. Wang, et al, “Compliant joint for biped robot considering energy consumption optimization”, Journal of Central South University, 2015, 46(11): 4070-4076. (In Chinese)
Conference Publications
2025
[C22] O. Akinniyi, M. Gainey, D. Martelli, Q. Zhang*, “Lower Limb Muscle Activities and Contractility during Stepping Response to Unexpected Waist-Pull Perturbations”, in IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), 2025, accepted.
[C21] Y. Chen, X. Zhang, H. Li, H. He, and Q. Zhang*, “Towards Neurotibotic Interface for Finger Joint Angle Estimation: A Multi-Stage CNN-LSTM Network with Transfer Learning”, in IEEE International Conference on Robotics and Automation (ICRA), 2025, accepted.
2024
[C20] Y. Chen, X. Bao, H. He, and Q. Zhang*, “Enhancing Prosthetic Control with Ultrasound Imaging: A Convolutional Neural Network Approach for Hand Gesture Recognition”, IFAC-PapersOnLine, 58(28), 2024, pp. 528-533.
[C19] Y. Chen and Q. Zhang*, “Enhancing Prosthetic Control with Ultrasound Imaging: A Convolutional Neural Network Approach for Real-Time Hand Gesture Recognition”, in 2024 American Society of Biomechanics (ASB), accepted, 2024.
[C18] Q. Zhang*, S. Ostadrahimi, and H. Su, “Assessment of Wearable Hip Exoskeleton Impedance Control on Human Lower-Limb Kinematics, kinetics, and Muscle Contractility During Walking”, in 2024 American Society of Biomechanics (ASB), accepted, 2024.
[C17]E. Saldajeno, P. Portillo, Q. Zhang, and M. Sharifi*, ”Mechatronics and Control System Design of a Bimanual Hand Exoskeleton with a Sensorized Soft Glove,” in 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), accepted, 2024.
[C16] O. Akinniyi, M. Sharifi, D. Martelli, and Q. Zhang*, “Development and Control of a Cable-Driven Robotic Waist Assist Device for Balance and Walking Function Enhancement”, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, pp. 447-452.
2023
[C15] Q. Zhang, X. Tu, J. Si, M. Lewek, and H. Huang*, “A Robotic Assistance Personalization Control Approach of Hip Exoskeletons for Gait Symmetry Improvement,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6125-6132. IEEE, 2023.
2022
[C14] A. Iyer, M. Singh, Q. Zhang, Z. Sun, and N. Sharma*, “An Online Actor-Critic Identifier with Sampled Fatigue Measurements for Optimal Adaptive Control of FES and an Electric motor,” in IEEE Conference on Control Technology and Applications (CCTA), pp. 714-719. IEEE, 2022.
2021
[C13] Q. Zhang, A. Iyer, K. Lambeth, K. Kim, and N. Sharma*, “Ultrasound Echogenicity-based Assessment of Muscle Fatigue During Functional Electrical Stimulation”, in 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), IEEE, 2021, pp. 5948-5952.
[C12] Q. Zhang, N. Fragnito, A. Myers, and N. Sharma*, “Plantarflexion Moment Prediction during the Walking Stance Phase with an sEMG-Ultrasound Imaging-Driven Model”, in 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), IEEE, 2021, pp. 6267-6272.
[C11] Z. Sun, X. Bao, Q. Zhang, K. Lambeth, and N. Sharma*, “A Tube-based Model Predictive Control Method for Joint Angle Tracking with Functional Electrical Stimulation and An Electric Motor Assist,” in Proc. Amer. Control Conf., 2021, pp. 1390-1395.
2020
[C10] Q. Zhang, A. Iyer, K. Kim*, and N. Sharma*, “Volitional contractility assessment of plantar flexors by using noninvasive neuromuscular measurements,” in 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2020, pp. 515–520.
[C9] A. Iyer, Z. Sheng, Q. Zhang, K. Kim, and N. Sharma*, “Analysis of Tremor During Grasp Using Ultrasound Imaging: Preliminary Study”, in 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2020, pp. 533–538.
[C8] Q. Zhang, A. Iyer, Z. Sun, A. Dodson, and N. Sharma*, “Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation,” in Dynamic Systems and Control Conference, Vol. 84270, p. V001T14A003, American Society of Mechanical Engineers, 2020.
[C7] Q. Zhang, A. Iyer, N. Sharma*, “Ultrasound based Sensing and Control of Functional Electrical Stimulation for Ankle Joint Dorsiflexion: Preliminary Study,” in 2020 International Symposium on Wearable Robotics. Springer, 2020, pp. 207-311.
2019
[C6] Q. Zhang, Z. Sheng, F. Moore-Clingenpeel, K. Kim, and N. Sharma*, “Ankle dorsiflexion strength monitoring by combining sonomyography and electromyography,” in Proc. Int. Conf. Rehabil. Robot. IEEE, 2019, pp. 240–245.
[C5] Q. Zhang, Z. Sheng, K. Kim, and N. Sharma*, “Observer design for a nonlinear neuromuscular system with multi-rate sampled and delayed output measurements,” in Proc. Amer. Control Conf. IEEE, 2019, pp. 872–877.
[C4] V. Molazadeh, Q. Zhang, X. Bao, and N. Sharma*, “Neural-network based iterative learning control of a hybrid exoskeleton with an MPC allocation strategy,” in Dynamic Systems and Control Conference, vol. 59148, p. V001T05A011. American Society of Mechanical Engineers, 2019.
Before 2019
[C3] Q. Zhang, B. Xu, Z. Guo, and X. Xiao*, “Design and modeling of a compact rotary series elastic actuator for an elbow rehabilitation robot,” in Proc ICIRA. Springer, Cham, 2017, pp. 44–56.
[C2] Q. Zhang, X. Xiao*, and Z. Guo, “Power Efficiency-Based Stiffness Optimization of a Compliant Actuator for Underactuated Bipedal Robot,” in Proc ICIRA. Springer, Cham, 2016, pp. 186–197.
[C1] Q. Zhang, L. Teng, Y. Wang, T. Xie, and X. Xiao*, “A study of flexible energy-saving joint for biped robots considering the sagittal plane motion,” in Lecture Notes in Computer Science, 2015, vol. 9245, pp. 333–344.