Publications

Selected Journal Publications

Model-based contact detection and position control of a fabric soft robot in unknown environments
Z. Qiao, P. H. Nguyen, W. Zhang
Frontiers in Robotics and AI, 9, 997366, 2022.

Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation With Sensor Misalignment
Z. Zhu, M. Rezayat, Y. Gu, W. Zhang
IEEE/ASME Transactions on Mechatronics, 27(4), pp. 2158-2167, 2022.

Human Assistance and Augmentation with Wearable Soft Robotics: a Literature Review and Perspectives
E. Q. Yumbla, Z. Qiao, W. Tao, W. Zhang
Current Robotics Reports, 2, pp. 399-413, 2021.

Towards Reconfigurable and Flexible Multirotors - A Literature Survey and Discussion on Potential Challenges
K. Patnaik, W. Zhang
International Journal of Intelligent Robotics and Applications, 5(3), pp. 365-380, 2021.

Autonomous Vision-guided Object Collection from Water Surfaces with a Customized Multirotor (Best Student Paper Award Finalist in AIM 2021)
S. Mishra, D. F. Syed, M. Ploughe, W. Zhang
IEEE/ASME Transactions on Mechatronics, 26(4), pp. 1914-1922, 2021.

Design and Computational Modeling of Fabric Soft Pneumatic Actuators for Wearable Assistive Devices
P. H. Nguyen, W. Zhang
Scientific Reports, 10(1), pp. 1-13, 2020.

Enabling Courteous Vehicle Interactions Through Game-Based and Dynamics-Aware Intent Inference
Y. Wang, Y. Ren, S. Elliott, W. Zhang
IEEE Transactions on Intelligent Vehicles, 5(2), pp. 217-228, 2020.

Evaluating Immediate Benefits of Assisting Knee Extension with a Soft-Inflatable Exosuit
S. Sridar, Z. Qiao, A. Rascon, A. Biemond, A. Beltran, T. Maruyama, C. Kwasnica, P. Polygerinos, W. Zhang
IEEE Transactions on Medical Robotics and Bionics, 2(2), pp. 216-225, 2020.

Towards Portability of Soft Pneumatic Exosuits using Low-Volume Inflatable Actuator Composites and a Portable Pneumatic Source
S. Sridar, S. Poddar, Y. Tong, P. Polygerinos, W. Zhang
IEEE Robotics and Automation Letters, 5(3), pp. 4062-4069, 2020.

Assessment of Human Dynamic Gait Stability with a Lower Extremity Assistive Device
P. Chinimilli, S. Rezayat, W. Zhang
IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(3), pp. 669-678, 2020.

Quantitative Modeling and Analysis of Reliance in Physical Human-Machine Coordination
Y. Wang, G. J. Lematta, C.-P. Hsiung, K. Rahm, E. K. Chiou, W. Zhang
ASME Journal of Mechanisms and Robotics, 11(6), pp. 060901, 2019.

Automatic Virtual Impedance Adaptation of a Knee Exoskeleton for Personalized Walking Assistance
P. Chinmilli, Z. Qiao, S. Rezayet, V. Jhawar, I. Fong, W. Zhang
Robotics and Autonomous Systems, 114, pp. 66-76, 2019.

Robust Attitude Control for Quadrotors based on Parameter Optimization of Nonlinear Disturbance Observer
S. Mishra, T. Rakstad, W. Zhang
ASME Journal of Dynamic Systems, Measurement, and Control, 141(8), pp. 081003, 2019.

Advances in Automation Technologies for Lower-extremity Neurorehabilitation: A Review and Future Challenges
W. Deng, I. Papavasileiou, Z. Qiao, W. Zhang, K.-Y. Lam, S. Han
IEEE Reviews in Biomedical Engineering, 11(1), pp. 289-305, 2018.

A Soft-Inflatable Exosuit for Knee Rehabilitation: Assisting Swing Phase During Walking
S. Sridar, Z. Qiao, N. Muthukrishnan, W. Zhang, P. Polygerinos
Frontiers in Robotics and AI, 5, pp. 44, 2018.

A Double Disturbance Observer Design for Compensation of Unknown Time Delay in aWireless Motion Control System
W. Zhang, M. Tomizuka, Y.-H.Wei, Q. Leng, S. Han, A. K. Mok
IEEE Transactions on Control Systems Technology, 26(2), pp. 675-683, 2018.

Optimal Collision-Free Robot Trajectory Generation Based on Time Series Prediction of Human Movement
Y. Wang, Y. Sheng, J. Wang, W. Zhang
IEEE Robotics and Automation Letters, 3(1), pp. 226-233, 2018.

Design and Control of a 3-Chambered Fiber Reinforced Soft Actuator with Off-the-shelf Stretch Sensors
S. Sridar, P. H. Nguyen, W. Zhang, P. Polygerinos
International Journal of Intelligent Robotics and Applications, 1(3), pp. 342-351, 2017.

Real-time Data-driven Gait Phase Detection using Ground Contact Force Measurements: Algorithms, Platform Design and Performance
I. Papavasileiou, W. Zhang, S. Han
Smart Health, 1-2, pp. 34-49, 2017.

A Wireless Human Motion Monitoring System for Smart Rehabilitation
W. Zhang, M. Tomizuka, N. Byl
ASME Journal of Dynamic Systems, Measurement and Control, 138(11), pp. 111004, 2016.

Clinical Benefits of Gait Training Enhanced with Visual Biofeedback of Walking Kinematics: Patients with Parkinson’s Disease and Stable Post Stroke
N. Byl, W. Zhang, S. Coo, M. Tomizuka
Neuropsychologia, 79(B), pp. 332-343, 2015.

Modified Preview Control for a Wireless Tracking Control System with Packet Loss
W. Zhang, J. Bae, M. Tomizuka
IEEE/ASME Transactions on Mechatronics, 20(1), pp. 299-307, 2015.

Network-based Rehabilitation System for Improved Mobility and Tele-rehabilitation
J. Bae, W. Zhang, M. Tomizuka
IEEE Transactions on Control Systems Technology, 21(5), pp. 1980-1986, 2013.

Energy-to-peak Control for Seismic-excited Buildings with Actuator Faults and Parameter Uncertainties
W. Zhang, Y. Chen, H. Gao
Journal of Sound and Vibration, 330(4), pp. 581-602, 2011.

Finite Frequency H_inf Control for Building under Earthquake Excitation
Y. Chen, W. Zhang, H. Gao
Mechatronics, 20(1), pp. 128-142, 2010.

Recent Conference Papers

Design, Characterization, and Dynamic Modeling of BEAST: a Bistable Elastomeric Actuator for Swift Tasks
W. Tao, Z. Qiao, W. Zhang
IEEE 5th International Conference on Soft Robotics (RoboSoft), pp. 390-395, 2022.

When Shall I Be Empathetic? The Utility of Empathetic Parameter Estimation in Multi-Agent Interactions
Y. Chen, L. Zhang, T. Merry, S. Amatya, W. Zhang, Y. Ren
IEEE International Conference on Robotics and Automation (ICRA), pp. 2761-2767, 2021.

Collision Recovery Control of a Foldable Quadrotor
K. Patnaik, S. Mishra, Z. Chase, W. Zhang
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 418-423, 2021.

Design, Fabrication, and Characterization of a Helical Twisting, Contracting, and Bending Fabric Soft Continuum Actuator
P. H. Nguyen, I. I. Mohd, K. Duford, X. Bao, W. Zhang
IEEE International Conference on Soft Robotics (RoboSoft), pp. 567-570, 2021.

Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly
K. Patnaik, S. Mishra, M. Rezayat, W. Zhang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1364-1370, 2020

Thrust Vector Control of a Hybrid UAGV for Precise Grasping
S. Mishra, K. Patnaik, Y. Garrard, Z. Chase, M. Ploughe, W. Zhang
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1270-1275, 2020.

Predictive Modeling of Periodic Behavior for Human-Robot Symbiotic Walking
G. Clark, J. Campbell, M. Rezayat, W. Zhang, H. Ben Amor
IEEE International Conference on Robotics and Automation (ICRA), pp. 7599-7605, 2020.

Development of an Untethered Knit Fabric Soft Continuum Robotic Module with Embedded Soft Fabric Sensing
P. H. Nguyen, Z. Qiao, S. Seidel, S. Amatya, I. I. B. Mohd, W. Zhang
IEEE International Conference on Soft Robotics (RoboSoft), pp. 615-620, 2020.

Human Learning and Coordination in Lower-limb Physical Interactions
S. Amatya, M. Rezayat, W. Zhang
American Control Conference (ACC), pp. 557-562, 2020.

Design, Characterization, and Mechanical Programming of Fabric-Reinforced Textile Actuators for a Soft Robotic Hand
P. H. Nguyen, F. Lopez-Arellano, W. Zhang, P. Polygerinos
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8312-8317, 2019.

Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks
P. H. Nguyen, I. I. Mohd, C. Sparks, F. Arellano, W. Zhang, P. Polygerinos
IEEE International Conference on Robotics and Automation (ICRA), pp. 8429-8435, 2019.

How Shall I Drive? Interaction Modeling and Motion Planning towards Empathetic and Socially-Graceful Driving
Y. Ren, S. Elliott, Y. Wang, Y. Yang, W. Zhang
IEEE International Conference on Robotics and Automation (ICRA), pp. 4325-4331, 2019.

Dynamic Modeling and Motion Control of a Soft Robotic Arm Segment
Z. Qiao, P. H. Nguyen, P. Polygerinos, W. Zhang
American Control Conference (ACC), pp. 5438-5443, 2019.

Design, Planning, and Control of an Origami-inspired Foldable Quad-rotor
D. Yang, S. Mishra, D. M. Aukes, W. Zhang
American Control Conference (ACC), pp. 2251-2256, 2019.

Design and Control of a Hexacopter with Soft Grasper for Autonomous Object Detection and Grasping
S. Mishra, D. Yang, C. Thalman, P. Polygerinos, W. Zhang
ASME Dynamic Systems and Control Conference (DSCC), DSCC2018-9244, 2018.

Distributed Planning of Multi-Segment Soft Robotic Arms
W. Zhang, P. Polygerinos
American Control Conference (ACC), pp. 2096-2101, 2018.

Collision-free Trajectory Planning in Human-robot Interaction through Hand Movement Prediction from Vision
Y. Wang, X. Ye, Y. Yang, W. Zhang
IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 305-310, 2017.

Who to Blame? Learning and Control Strategies with Information Asymmetry
C. Liu, W. Zhang, M. Tomizuka
American Control Conference (ACC), pp. 4859-4864, 2016.