Qingguo Li PhD, P.Eng

Professor and Associate Head

Mechanical and Materials Engineering, Faculty
Phone: 613-533-3191
Fax: 613-533-6489
McLaughlin Hall, Room: 301A


Expertise: Biomechanical system design, Energy harvesting, Wearable sensors, Gait analysis, Load carriage
Qingguo Li
Teaching Publications

Mech 816: Energetics and Mechanics of Locomotion 

Journal Publications 

[63] Shepertycky, M., Burton, S., Dickson, A., Liu, Y.F. and Li, Q., (2021). Removing energy with an exoskeleton reduces the metabolic cost of walking. Science, 372(6545), 957-960 

[62] Fan, B., Xia, H., Xu, J., Li, Q. and Shull, P.B., (2021). IMU-based knee flexion, abduction and internal rotation estimation during drop landing and cutting tasks. Journal of Biomechanics, 110549 

[61] Kudrinko, K., Flavin, E., Shepertycky, M., Li, Q. (2021). Assessing the need for a wearable sign languagerecognition device for deaf Individuals: results from a national questionnaire. Assistive Technology, pp.1-14 

[60] Li, T., Li, Q., & Liu, T. (2021). Why highly compliant poles are not energetically beneficial during running: Evidence from an optimization-based biped model. Journal of Biomechanics, 117, 110264 

[59] Chawla, I., Pathak, P. M., Notash, L., Samantaray, A. K., Li, Q., & Sharma, U. K. (2021). Effect of selection criterion on the kineto-static solution of a redundant cable-driven parallel robot considering cable mass and elasticity. Mechanism and Machine Theory, 156, 104175. 

[58] Li, T., Wang, L., Yi, J. A. F. T., Li, Q., & Liu, T. (2021). Reconstructing Walking Dynamics from Two Shank-Mounted Inertial Measurement Units (IMUs). IEEE/ASME Transactions on Mechatronics. 

[57] Zhao, S. R., Bryant, J. T., & Li, Q. (2020). Deformable link segment analysis for prosthetic foot-ankle components: Kinematics. Journal of biomechanics, 99, 109548. 

[56] Kudrinko, K., Flavin, E., Zhu, X., & Li, Q. (2020). Wearable Sensor-Based Sign Language Recognition: A Comprehensive Review. IEEE Reviews in Biomedical Engineering. 

[55] Li, T., Li, Q., Liu, T., & Yi, J. (2020). How to carry loads economically: analysis based on a predictive biped model. Journal of biomechanical engineering, 142(4). 

[54] Wang, L., Sun, Y., Li, Q., Liu, T., & Yi, J. (2020). Imu-based gait normalcy index calculation for clinical evaluation of impaired gait. IEEE journal of biomedical and health informatics. 

[53] Fan, B., Li, Q., & Liu, T. (2020). Accurate foot clearance estimation during level and uneven ground walking using inertial sensors. Measurement Science and Technology, 31(5), 055106. 

[52] Wang, L., Sun, Y., Li, Q., Liu, T., & Yi, J. (2020). Two shank-mounted IMUs-based gait analysis and classification for neurological disease patients. IEEE Robotics and Automation Letters, 5(2), 1970-1976. 

[51] Best, A. N., Martin, J. P., Li, Q., & Wu, A. R. (2019). Stepping behaviour contributes little to balance control against continuous mediolateral trunk perturbations. Journal of Experimental Biology, 222(24). 

[50] Martin, J. P., & Li, Q. (2019). Design, model, and performance evaluation of a biomechanical energy harvesting backpack. Mechanical Systems and Signal Processing, 134, 106318. 

[49] Martin, J. P., & Li, Q. (2019). Generating electricity while walking with a medial–lateral oscillating load carriage device. Royal Society open science, 6(7), 182021. 

[48] Li, T., Li, Q., & Liu, T. (2019). An actuated dissipative spring-mass walking model: Predicting human-like ground reaction forces and the effects of model parameters. Journal of biomechanics, 90, 58-64. 

[47] Li, T., Li, Q., & Liu, T. (2019). Understanding the mechanics and balance control of the carrying pole through modeling and simulation. Plos one, 14(6), e0218072. 

[46] Fan, B., Li, Q., & Liu, T. (2018). Improving the accuracy of wearable sensor orientation using a two-step complementary filter with state machine-based adaptive strategy. Measurement Science and Technology, 29(11), 115104. 

[45] Martin, J. P., & Li, Q. (2018). Altering compliance of a load carriage device in the medial-lateral direction reduces peak forces while walking. Scientific reports, 8(1), 1-10. 

[44]Fan, B., Li, Q., & Liu, T. (2018). How magnetic disturbance influences the attitude and heading in magnetic and inertial sensor-based orientation estimation. Sensors, 18(1), 76. 

[43]Wang, L., Sun, Y., Li, Q., & Liu, T. (2018). Estimation of step length and gait asymmetry using wearable inertial sensors. IEEE Sensors Journal, 18(9), 3844-3851. 

[42]Bingfei Fan , Qingguo Li , Chao Wang and Tao Liu. (2017). An Adaptive Orientation Estimation Method for Magnetic and Inertial Sensors in the Presence of Magnetic Disturbances. Sensors. 17(5) 

[41]L Wang, T Liu, Y Wang, Q Li, J Yi, Y Inoue. (2017). Evaluation on Step Counting Performanceof Wristband Activity Monitors in DailyLiving Environment. IEEE Acess. 5: 13020-13027 

[40]Zhao S, Haberman A,  Li Q, Bryant JT. (2017). Method for predicting deformation characteristics of prosthetic feet. JPO Journal of Prosthetics and Orthotics, 29:7-18 

[39]Martin JP, Shepertycky M, Liu YF, [Li Q]. (2016). Lower-Limb Driven Energy Harvester: Modelling, Design, and Performance Evaluation. Journal of Medical Devices 10(4), 041005 

[38]Dejun Li, Li T, Li Q,Liu T, Jingang Yi. (2016). A simple model for predicting walking energetics with elastically-suspended backpack. Journal of Biomechanics. 49: 4150-4153 

[37]Dickson, A. J., Burton, S., Shepertycky, M., Liu, Y.F., Li, Q.(2016). Digitally Controlled Energy Harvesting Power Management System. IEEE Journal of Emerging and Selected Topics in Power Electronics. 4(1): 303-317. 

[36]Liu Y, Han H, Liu T, Yi J, Li Q, Inoue Y. (2016). A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection. Sensors. 

[35]Martin JP, Li Q. (2016). Overground vs. Treadmill Walking on Biomechanical Energy Harvesting: an Energetics and EMG Study. Gait and Posture 

[34]Laudanski, A, Brouwer B, Li, Q. (2015). Activity Classification in Persons with Stroke Based on Frequency Features. Medical Engineering and Physics 

[33]Novaka, A.C., Li, Q, Yang, S, Brouwer, B. (2015). Energy flow analysis of the lower extremity during gait in persons with chronic stroke. Gait and Posture 

[32] Shepertycky, M, Li, Q. (2015). Generating electricity during walking with a lower limb-driven energy harvester: Targeting a minimum user effort. PloS One. 10(6): e0127635. 

[31]Li Q, Zhang JT. (2014). Post-trial anatomical frame alignment procedure for comparison of 3D joint angle measurement from magnetic/inertial measurement units and camera-based systems. Physiological Measurement. 35: 2255-2268 

[30]Yang S, Zhang JT, Novak A, Brouwer B, Li Q. (2013). Estimation of spatio-temporal parameters for poststroke hemiparetic gait using inertial sensors. Gait and Posture. 37(3): 354-358. 

[29]Zhang JT*, Novak AC, Brouwer B, Li Q. (2013). Concurrent validation of Xsens MVN measurement of lower limb joint angular kinematics. Physiological Measurement. 34(8): n63-69. 

[28]Laudanski A, Brouwer B, Li Q. Measurement of lower limb joint kinematics using inertial sensors during stair ascent and descent in healthy older adults and stroke survivors. Journal of Healthcare Engineering. 4(4): 555-576. 

[27] S. Yang, J. Zhang, A. C. Novak, B. Brouwer, Q. Li, Estimation of Spatio-Temporal Parameters for Post-Stroke Hemiparetic Gait using Inertial Sensors, Gait & Posture (In Press), 2012 

[26] S. Yang, Q. Li, Inertial Sensor-Based Methods in Walking Speed Estimation: A Systematic Review, Sensor, 12 (5): 6102-6116, 2012 

[25]S. Yang, A. Laudanski and Q. Li, Inertial Sensors in Estimating Walking Speed and Inclination: An Evaluation of Sensor Error Models, Medical & Biological Engineering& Computing, 50(4):383-393, 2012 

[24] S. Yang, Q. Li. IMU-based Ambulatory walking speed estimation in constrained treadmill and overground walking, Computer Methods in Biomechanics and Biomedical Engineering, 15(3):313-322, 2012 

[23] S. Yang, C. Mohr, and Q. Li. Ambulatory running speed estimation using an inertial sensor, Gait & Posture, 34(4):462-466, 2011 

[22] A. C. Novak, Q. Li, S. Yang, B. Brouwer, Mechanical energy transfers across lower limb segments during stair ascent and descent in young and healthy older adults, Gait & Posture, 34(3):384-390, 2011 

[21] A. Brenna, J. Zhang, K. Deluzio and Q. Li. Quantification of inertial sensor-based 3D joint angle measurement accuracy using an instrumented gimbal, Gait and Posture, 34(3):320-323, 2011 

[20] A. Brenna, J. Zhang, K. Deluzio and Q. Li. Assessment of anatomical frame variation effect on joint angles: a linear perturbation approach, Journal of Biomechanics, 44(16):2838-2842,2011 

[19] Q. Li, M. Young, V. Naing, J. M. Donelan, Walking Speed Estimation Using a Shank-Mounted Inertial Measurement Unit, J. Biomechanics. 43:1640-1643, 2010 

[18] Q. Li and S. Payandeh, Optimal control approach to trajectory planning for a class of mobile robotic manipulation, Journal of Engineering Mathematics, 67: 369-386, 2010 

[17] Q. Li, V. Naing, J. M. Donelan, Development of a biomechanical energy harvester, Journal of NeuroEngineering and Rehabilitation, 6(22), 2009 

[16] J. M. Donelan, Q. Li, V. Naing, J.A. Hoffer, D.J. Weber, and A.D. Kuo, Biomechanical energy harvesting: generating electricity during walking with minimal user effort, Science, 319(5864): 807- 810, Feb 08 2008 

[15] Q. Li and S. Payandeh, Manipulation of convex objects via cooperative push, International Journal of Robotics Research, 26(4):377-404, 2007 

[14] Q. Li and S. Payandeh, Planning velocities of free sliding objects as free boundary value problem, International Journal of Robotics Research, 23(1): 69-88, 2004 

[13] Q. Li and S. Payandeh, Planning for dynamic multi-agent planar manipulation with uncertainty: a game theoretic approach, IEEE Trans. On Systems, Man, and Cybernetics, 33(5): 620-626, 2003 

[12] S. Tong, Q. Li and T. Chai, Adaptive output tracking of nonlinear systems using neural networks, ACTA Automatica Sinica (In-Chinese), 26: 296-302, 2000 

[11] S. Tong, Q. Li and T. Chai, Fuzzy adaptive control for a class of nonlinear systems, Fuzzy Sets and Systems, 101(1): 31-39, 1999 

[10] S. Tong, T. Chai and Q. Li, Fuzzy direct adaptive control for a class of large-scale nonlinear systems, International Journal of Cybernetics and Systems, 28(8): 653-674,1997 

[9] Q. Li, S. Tong and T. Chai, Fault detection and accommodation of nonlinear systems using neural network, J. of Information and Control (In-Chinese), 10(6): 185-191, 1997 

[8] Y. Zhang, Q. Li, J. Luo, G. Dai and Pual M. Frank, Fault diagnosis of dynamic systems using NN-Based MMAE method, Journal of Engineering Simulation, 18(1): 38-48, 1996 

[7] Y. Zhang, Q. Li, and H. Zhang, Optimization of radial basis function network structure using singular value decomposition method, Control and Decision (In-Chinese), 11(6): 667-671, 1996 

[6] Y. Zhang, Q. Li, and H. Zhang, The new development of Kalman fltering algorithm, Control Theory and Applications, 12(5): 529-538, 1995 

[5] Y. Zhang, Q. Li, and H. Zhang, A new recursive identification method based on singular value decomposition, Control Theory and Applications (In-Chinese), 12(2): 224-229, 1995 

[4] Y. Zhang, Q. Li, and H. Zhang, A new algorithm for model structure determination and param- eter estimation of time-varying systems, J. Northwestern Polytechnical University (In-Chinese), 13(2): 281-286, 1995 

[3] Y. Zhang, Q. Li, and H. Zhang, A U-D factorization-based EKF learning algorithm for feedforward neural networks, J. Northwestern Polytechnical University (In-Chinese), 13(1): 36-40, 1995 

[2] Y. Zhang, Q. Li, and H. Zhang, A new nonlinear filter and its application to flight state and parameter estimation of aircraft, Acta Aeronautical et Astronautical Sinca (In-Chinese), 15(5): 620-626, 1994 

[1] Y. Zhang, Q. Li, and H. Zhang, A Kalman fiter learning method of feedforward neural networks, Information and Control (In-Chinese), 23(2): 113-118, 1994 

Refereed Conference Proceedings 

[31] JT Zhang and Q. Li. Lower-Limb-Driven Energy Harvesting: Preliminary Analysis, 33rd Annual International IEEE EMBS Conference, Boston, Aug. 2011 4511-4514. 

[30] A. Laudanski, S. Yang, Q. Li. A concurrent comparison of inertia sensor-based walking speed estimation methods, 33rd Annual International IEEE EMBS Conference, Boston, Aug. 2011, 3484-3487. 

[29] S. Yang and Q. Li. Ambulatory walking speed estimation under different step length and fre quency. 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, July 2010, 658-663. 

[28] E. Bishop and Q. Li. Walking speed estimation using shank-mounted accelerometers. 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 2010, 5096- 5101. 

[27] Q. Li, M. Young, V. Naing, and J.M. Donelan. Walking speed and slope estimation using shank-mounted inertial measurement units. 2009 IEEE International Conference on Rehabilitation Robotics, Kyoto, Japan. June 2009. 839-844. 

[26] J.M. Donelan, V. Naing, Q. Li, Biomechanical energy harvesting, 2009 IEEE Radio and Wireless Symposium. San Diego, California, Jan 2009 

[25] Q. Li, V. Naing, J.A. Hoffer, A.D. Kuo, D.J. Weber, and J.M. Donelan, Biomechanical en ergy harvesting: apparatus and methods, 2008 IEEE International Conference on Robotics and Automation. Pasadena, California, May 2008 

[24] S. Gao, Q. Xiao, Q. Pan, and Q. Li, Learning dynamic Bayesian networks structure based on Bayesian optimization algorithm, 4th International Symposium on Neural Networks, Nanjing, China, Jun 2007, 424-431 

[23] Q. Li and S. Payandeh, An optimal control approach to stable-pushing planning, 8th Interna tional IFAC Symposium on Robot Control, Santa Cristina Convent, Italy, Sep 2006 

[22] Q. Li and S. Payandeh, An approach for object manipulation using cooperative agents. 2006 IEEE International Conference on Robotics and Automation. Florida, USA, May 2006, 1749-1754 

[21] Q. Li and S. Payandeh, Unconstrained dynamic planar manipulation with one joint manipulator, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, Aug 2005, 1355-1360 

[20] T. Li, Q. Li and S. Payandeh, NN-based solution of forward kinematics of 3DOF parallel spherical manipulator, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, Aug 2005, 1344-1349 

[19] Q. Li and S. Payandeh, Planning velocities of free sliding objects for dynamic manipulation, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sep 2003, 3594- 3599 

[18] Q. Li and S. Payandeh, Multi-agent cooperative manipulation with uncertainty: A neural net- based game theoretic approach, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sep 2003, 2193-2198 

[17] Q. Li and S. Payandeh, Distributed manipulation systems: a review from multi-agent systems, 11th International Conference on Advanced Robotics(ICAR2003), Portugal, Jun 2003, 846-851 

[16] Q. Li and S. Payandeh, Planning for dynamic multi-agent planar manipulation with uncertainty: a game theoretic approach, 2003 American Control Conference, Denver, USA, Jun 2003, 2193-2198 

[15] Q. Li and S. Payandeh, Centralized cooperative planning for dynamic multi-agent planar manipulation, 41st IEEE Conference on Decision and Control, Las Vegas, USA, Dec 2002, 2836- 2841 

[14] Q. Li and S. Payandeh, Modeling and analysis of dynamic planar multi-agent manipulation, 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Banff, Canada, Jul 2001, 200-205 

[13] Q. Li, R. Babuska and M. Verhaegen, Adaptive output tracking of nonlinear systems using neural networks, 14th IFAC World Congress, Beijing, China, sep 1999 

[12] Q. Li, Y. Zhang and T. Chai, Neural network approaches to parameter estimation based fault diagnosis, 1997 Asian Control Conference, III-95-98 

[11] Q. Li, S. Tong, and T. Chai, Fault detection and compensation of nonlinear systems using neural network, IFAC AAFEPROCESS'97, Hull, UK 

[10] Q. Li, S. Tong, and T. Chai, Robust control of nonlinear uncertain systems under generalized matching condition using neuro-compensator, 1997 American Control Conference, Albuquerque, NM , USA, Jun 1997, 1556-1557 

[9] Q. Li, S. Tong, and T. Chai, Adaptive control of nonlinear systems using neural networks, 1997 European Control Conference, Brussels, Belgium, Sep 1997, Vol.3 

[8] Q. Li, S. Tong and T. Chai, H1 tracking of nonlinear unknown systems using neural networks, 1997 IEEE symp. on intelligent control, Istanbul, Turkey, Jul 1997, 199-204 

[7] S. Tong, Q. Li and T. Chai, Fuzzy indirect adaptive control for unknown multivariable nonlinear systems, 11th IFAC Symposium on System Identification (SYSID'97), Fukuoka, Japan, Jul 1997, 823-828 

[6] S. Tong, Q. Li and T. Chai, Direct adaptive fuzzy control for unknown multivariable nonlinear systems with fuzzy logic, 6th IEEE International Conference on Fuzzy Systems, Barcelona, Spain, Jul 1997, v.1, 355-360 

[5] S. Tong, Q. Li and T. Chai, Fuzzy indirect adaptive control and robustness analysis for unknown multivariable nonlinear systems, 6th IEEE International Conference on Fuzzy Systems, Barcelona, Spain, Jul 1997, v.1, 349-353 

[4] Y. Zhang and Q. Li, Fault diagnosis of dynamic systems using ANN-based MMAE method, IFAC Youth Automation Conference, Beijing, China, Aug 1995 

[3] Y. Zhang, Q. Li, G. Dai and H. Zhang, Identification of structure and parameters of time-varying systems using modified U-D factorization method, 1st Asian Control Conference, Japan, Jul 1994, 685-688 

[2] Y. Zhang, Q. Li, G. Dai and H. Zhang, A New recursive least-squares identification algorithm based on singular value decomposition, 33rd IEEE Conf. on Decision and Control, Orlando, USA, Dec 1994, 1733-1734 

[1] Y. Zhang, G. Dai, H. Zhang and Q. Li, A SVD-based extended Kalman filter and applications to aircraft flight state and parameter estimation, 1994 American Control Conference, Jun 1994, 1809-1813 

Abstracts in Refereed Conference 

[14] M. Shepertycky, Y-F Liu, Q. Li, Biomechanical energy harvesting, Ontario Biomechanics Conference, 2012 

[13] A. Novak, Q. Li, S. Yang, B. Brouwer, Energy flow analysis of the lower extremity during gait in persons with stroke, ISPGR 2012 

[12] A. Laudanski, Q. Li, Inertial sensors in estimating walking speed: a comparison of 2D and 3D algorithms, Ontario Biomechanics Conference, 2012 

[11] J.T. Zhang, A. Novak, Q. Li, An IMU based system for 3D joint angle estimation, Ontario Biomechanics Conference, 2012 

[10] Q. Li, Does Lower-Limb Angular Velocities Scale Linearly With Walking Speeds?, Canadian Society of Biomechanics bi-annual meeting, Vancouver, 2012 

[9] N. F. Troje, K. Bobyn, A.M. Kroker, Q. Li, Biomechanics of headbobbing in pigeons 22nd Annual Meeting of the Canadian Society for Brain, Behaviour and Cognitive Science, Kingston, 2012 

[8] A.M. Kroker, K. Bobyn, Q. Li, N. F. Troje, Control errors during the hold phase of head-bobbing in pigeons 22nd Annual Meeting of the Canadian Society for Brain, Behaviour and Cognitive Science, Kingston, 2012 

[7] C. Mohr and Q. Li, Running speed estimation using a leg-mounted IMU. 2010 Canadian Society of Biomechanics Conference. Kingston, ON, Canada 

[6] A. Brennan, Q. Li, and K. Deluzio. Comprehensive analytical description of kinematic crosstalk. 2010 Canadian Society of Biomechanics Conference. Kingston, ON, Canada 

[5] A. Brennan, K. Deluzio and Q. Li. Quantification of inertial sensor-based 3D knee joint an gle measurement accuracy using an instrumented gimbal. 2010 Canadian Society of Biomechanics Conference. Kingston, ON, Canada 

[4] S. Yang, and Q. Li. Overground Walking Step Length Estimation with Inertia Measurement Unit. 2010 Canadian Society of Biomechanics Conference. Kingston, ON, Canada 

[3] Q. Li. Stride-by-stride walking speed estimation using inverted pendulum model, Dynamic Walking 2009, Burnaby, BC, Canada 

[2] Q. Li, J.A. Hoffer, A.D. Kuo, D.J. Weber, and J.M. Donelan, Biomechanical energy harvesting: apparatus and methods, presented at International Society for Posture and Gait Research (ISPGR) 2007 

[1] V. Naing, Q. Li, J.A. Hoffer, A.D. Kuo, D.J. Weber, and J.M. Donelan, Biomechanical energy harvesting: device performance and physiological effects. Presented at International Society for Posture and Gait Research (ISPGR) 2007. (Recipient of Aftab Patla Memorial award for innovation) 

Patents 

[5] Shepertycky M, Li Q, Liu Y Biomechanical Electrical Power Generation Apparatus. United States. 14/309,395. 2014/08/02. 

[4] J.M. Donelan, A.D. Kuo, Q. Li, J.A. Hoffer and D.Weber, Methods and apparatus for harvesting biomechanical energy (I), 7652386, USPTO (Issued on Jan 2010) 

[3] J.M. Donelan, A.D. Kuo, Q. Li, J.A. Hoffer and D.Weber, Methods and apparatus for harvesting biomechanical energy (II), 7659636, USPTO, (Issued on Feb 2010) 

[2] J.M. Donelan, A.D. Kuo, Q. Li, J.A. Hoffer and D.Weber, Methods and apparatus for harvesting biomechanical energy(III), 12/150671, USPTO, (Filled on Aug 2006) 

[1] J.M. Donelan, A.D. Kuo, Q. Li, J.A. Hoffer. and D. Weber, Methods and apparatus for har vesting biomechanical energy, 2630198 (Canada)/ 06790537.2 (Europe)/ 200680033060.7 (China) / 2006279208 (Australia), (Filled on Aug 10, 2006) 

 



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