Xianlian Zhou

Exploring Effects of Shoulder-Assist Exoskeletons on Load-Carrying Stability: A Phase-Specific Approach

Findings suggest a phase-specific pattern in minimum anterior MoS, with the clearest condition-related differences observed during gait deceleration in short post-lift walking in manual material handling.

Subject-Specific Predictive Musculoskeletal Simulations of Lower-Limb Exoskeleton Assistance: Metabolic and Biomechanical Effects of Joint Assistance Strategies

Lower-limb exoskeletons have made considerable progress in reducing energy expenditure during walking. However, designing optimal assistance strategies remains challenging, particularly given inter-individual variability in anthropometry and biomechanics. This study explores energy-optimal lower-limb joint-assistance s...

Robust Neural Network Controllers for Lower Limb Exoskeletons: A Deep Reinforcement Learning Approach

UniExo: Unified Multi-Skill Policies for Musculoskeletal Locomotion and Co-Adaptive Exoskeleton Control

Daily locomotion encompasses diverse activities and frequent transitions between them, yet most exoskeleton controllers are designed for a single activity or a narrow set of related movements. Changes in activity therefore typically require explicit mode switching and separately tuned or retrained controllers. Simulati...

Staged Multi-Agent Training (SMAT) for Hip Exoskeletons: Metabolic and Biomechanical Validation of a Simulation-Trained Co-Adaptive Controller

Results show that a single simulation-trained SMAT policy, deployed without subject-specific retraining, delivers a significant metabolic benefit on real users while remaining robust beyond the conditions it was trained on.