Qiwei Zhang

Tongji University

The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. This study incorporates the integration of exoskeleton models into a reflex-based gait model, emphasizing human-exoskeleton interaction. Specifically, we introduce...

This research aims to advance the current state-of-the-art of earthworm-like robots by extending the gait study from rectilinear and planar locomotion to spatial locomotion. In detail, the following five important but largely unaddressed issues are tackled in this paper, including the multibody kinematic modeling of the robot with spatial locomotio...

The unique merits of origami structures and origami metamaterials are the folding-induced shape reconfigurability and the associated evolution of mechanical properties. However, currently, there is a lack of mature solutions on how to achieve active tuning, and the tunability is stuck in static properties. Therefore, this study proposes a pneumatic...

Origami has been widely used in designing tunable metamaterial due to its folding-induced shape reconfigurability and changeable mechanical properties. However, there is still a lack in achieving tunability via active means, and the tunability still remains in a static domain. Thus, the aim of this research is to solve these two problems. By combin...

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capabi...

Inspired by the biological characteristics of the earthworm and the prominent deformability of origami structure, this research proposes an origami-based earthworm-like robot to achieve effective planar locomotion. Origami is attractive for building earthworm-like robots’ ‘body’ because it can exhibit excellent compliance and reduce the cost of fab...

Origami-based mechanical metamaterials and metastructure have been demonstrated to exhibit unique properties originating from their intricate geometries of folding. This research aims to extend the current investigation level from quasistatics to dynamics. In detail, this research focuses on the wave dynamics of a metastructure composed of stacked...