Exoskeletons have been shown to effectively assist humans during steady locomotion. However, their effects on non-steady locomotion, characterized by nonlinear phase progression within a gait cycle, remain insufficiently explored, particularly across diverse activities. This work presents a shank angle-based control system that enables the exoskeleton to maintain real-time coordination with human gait, even under phase perturbations, while dynamically shaping assistance profiles to match the biological ankle moment patterns across walking, running, stair negotiation tasks. The control system consists of an assistance profile online generation method and a model-based feedforward control method. The assistance profile is formulated as a dual-Gaussian model with the shank angle as the independent variable. Leveraging only IMU measurements, the model parameters are updated online each stride to adapt to inter- and intra-individual biomechanical variability. The profile tracking control employs a human-exoskeleton kinematics and stiffness model as a feedforward component, reducing reliance on historical control data due to the lack of clear and consistent periodicity in non-steady locomotion. Three experiments were conducted using a lightweight soft exoskeleton with multiple subjects. The results validated the effectiveness of each individual method, demonstrated the robustness of the control system against gait perturbations across various activities, and revealed positive biomechanical and physiological responses of human users to the exoskeleton's mechanical assistance.

While rehabilitation exoskeletons have been extensively studied, systematic design principles for effectively addressing heterogeneous bilateral locomotion in hemiplegia patients are poorly understood. In this article, a multijoint lower exoskeleton driven by series elastic actuators (SEAs) is developed, and the design philosophy of rehabilitation robots for hemiplegia patients is systematically explored. The exoskeleton has six powered joints for both lower limbs in a hip–knee–ankle configuration, and each joint incorporates a custom, lightweight SEA module. A unified interaction-oriented control framework is designed for exoskeleton-assisted walking, including gait generation, task scheduling, and advanced joint-level control. The closed-loop design provides methodical solutions to address hemiplegia rehabilitation needs and provides walking assistance for bilateral lower limbs. Moreover, a multitemplate gait generation approach is proposed to address the altered kinematics induced by exoskeleton-assisted walking and enhance the exoskeleton's adaptability to patient-specific kinematic variations in an iterative manner. Experiments are conducted with both healthy individuals and hemiplegia patients to verify the effectiveness of the exoskeleton system. The clinical outcomes demonstrate that the exoskeleton can achieve mechanical transparency, facilitate movement, and enable coordinated interjoint locomotion for bilateral gait assistance.

Rotation object detection is of great importance in remote sensing imagery where the orientation is arbitrary and objects are densely distributed. However, there are several challenges that need to be overcome, such as the angular boundary problem in the regression-based methods and the square-like problem in the classification-based methods. For square-like object rotation detection, classification-based methods [e.g., circular smooth label (CSL)] suffer from inconsistencies between angular coding and evaluation mechanisms due to the variation of aspect ratio. To address the angular inconsistencies of square-like object existing in current classification methods, we design a novel angular encoding mechanism based on aspect ratio. We make optimizations and improvements in the following two aspects: 1) proposing an aspect ratio-based bidirectional coded label (AR-BCL) to replace CSL for angle coding of square-like object, which significantly improves detection accuracy for square-like object and ii) designing a cross-fusion decoupled head (CF-DH) based on angular classification to replace the existing coupled head (CH), which can help extract features that suitable for angular classification. Extensive experiments on DOTA, a large-scale public dataset for aerial images, demonstrate the effectiveness of our method for square-like object detection.

Oriented object detection plays an important role in aerial image interpretation. Image processing speed is also essential due to massive amounts of aerial images. Anchor-free oriented detectors with fast processing speed are generally accepted despite the absence of pre-set anchors, contributing to their performance gap with anchor-based detectors. Most anchor-free oriented detectors are carefully designed by defining samples according to target characteristics, which require substantial prior knowledge, to realize improved performance. This study proposes an anchor-free oriented detector (termed as rfpoint) that requires minimal prior knowledge. Moreover, this study mainly aims to introduce a dynamic sample definition strategy. This strategy is modeled as a dynamic regulating process, wherein the classification and box regression interact until the model converges. A rotating quality-driven loss (RQDL) and adaptive-weight box loss (AWBL) are also proposed to realize the aforementioned process. RQDL redefines positive and negative attributes of samples according to the distribution of rotating Intersection-over-Unit (IoU) between predictions and ground truth. AWBL adjusts the importance degree of candidate samples in the box regression through classification scores. The proposed method is then tested on three mainstream aerial image datasets (DOTA, DIOR, and HRSC2016). Results reveal that the proposed method achieves the best performance compared with other oriented detectors, whose mAP are 79.92%, 70.88%, and 90.67%. Moreover, the method maintains the inference speed advantage of anchor-free detectors. An effective sample definition method can bridge the performance gap of anchor-free oriented detectors without minimizing inference speed.

When applying exoskeletons for walking assistance, one important consideration is to ensure that the users retain full control over the exoskeleton-provided assistance, which is quite limited in existing exoskeletons due to the absence of a suitable control system. In this article, a time-independent exoskeleton control system is developed based on a novel assistance profile generation method and an iterative force control method to enable continuous assistance adjustment. The assistance profile is formulated as a Gaussian function with a human state variable and can be updated online to adapt to different users. The proposed profile continuously self-adjusts along the movement of the user's leg, especially when users change their walking patterns. The proposed control system iteratively compensates for the force control lag and amplitude attenuation to enable precise tracking of the assistance profile during natural human walking. Experiments have been conducted using a soft exoskeleton on subjects with and without prior experience using an exoskeleton. The experimental results have shown the effectiveness of the proposed control system compared with a common time-dependent control system.

Soft exoskeletons have demonstrated the potential to save energy, but their efficiency is sensitive to variations in human gait cadence. This work aims to develop adaptive gait state detection and iterative force control methods for a soft exoskeleton to reduce human walking metabolic cost consistently, while the user may change walking cadence. The proposed approach is motivated by the rhythmicity of gait and applies an iterative learning concept to enhance the exoskeleton’s adaptability to varying walking conditions. The gait state detection method proposed for the designed exoskeleton combines two feature extraction algorithms, which can learn from the present and past body kinematic data, to provide accurate user gait state detection. Based on the state, the proposed force control method iteratively adjusts the commands to keep track of the desired profile. Experiments have been conducted on healthy subjects walking with varying cadence using the soft exoskeleton. Promising results were presented in separate validation tests. Moreover, metabolic costs of subjects walking under one unpowered and two powered conditions, where the assistance profiles were produced by classical methods and the proposed methods, showed that the proposed methods can effectively improve the exoskeleton’s ability to save human energy of walking with varying cadence.Note to Practitioners—Lower limb exoskeletons have demonstrated the potential to save human energy in medical and industrial applications. The main purpose of this work is to solve the exoskeleton assistance efficiency loss problem for users walking with changing cadence. Constant cadence is unlikely maintained during natural human walking. Few existing exoskeletons could retain high efficiency under user cadence changes, limited by their control system capability. This work presents a new cable-driven cadence-insensitive soft exoskeleton, which is purposely designed with two adaptive methods to enable the device to offer consistent benefit to users walking with varying cadence. The proposed methods are inspired by the rhythmicity of human gait and can be iteratively reconfigured to perform accurate human gait state detection and assistive force tracking. The proposed methods have the potential to be integrated into other human-oriented robots to improve their adaptability. This work can greatly enhance the possibility of using the walking assist robotic devices in more practical applications.

Road segmentation in remote sensing images has been widely used in many fields. Semantic segmentation, based on deep learning, has become a hot topic for road segmentation. With the deepening of convolutional neural network (CNN) structures, features in the convolution layer that has more semantic information become more important for road segmentation. However, the spatial resolution of the convolutional layer reduced as the CNN network deepens, which causes the extracted roads to lose some important location information. To solve this problem, this letter proposes a novel end-to-end road segmentation method to effectively utilize the different levels of convolutional layers to enhance the model’s ability to precisely perceive road edges and shapes. The model includes an encoder and a decoder. The encoder encodes the image to obtain the features of different levels and scales. The decoder consists of two modules: scale fusion module and scale sensitive module. In the scale fusion module, features in pooling layers of different scales are fused to obtain a fusion feature. In a scale sensitive module, a weight tensor at the end of the network is learned to evaluate the importance of fusion features. This road segmentation network has been experimentally verified using public data sets, which greatly improves the road segmentation accuracy and achieves good performance.

Human locomotor activity (LA) recognition is important in the control of exoskeletons and prostheses and in patient monitoring. This article presents a practical recognition approach that can classify level walking, stair ascent, and stair descent activities across different subjects and diverse gait patterns. The thigh angle is measured and utilized in this method to construct a phase curve in an activity-specific coordinate frame during a stride. The LA is recognized by matching the curvature of its phase curve to the expected one. The factors affecting the adaptability of the proposed method to gait variations are analyzed and compensated for. The proposed method is evaluated with eight subjects who are asked to perform the three types of activity at two different cadences: 70 steps/min and 110 steps/min. Experimental results show that the proposed classifier outperforms an existing phase variable based classifier in all validation experiments and a${\boldsymbol{k}}$-nearest neighbor classifier when using nonsubject-specific training data, indicating that the proposed method has superior adaptability to changes in human and in strides. Moreover, the feature used in the proposed method has demonstrated the potential in quantitatively indicating the extent of neuromotor impairments of patients.

Object detection in very-high-resolution (VHR) remote sensing imagery remains a challenge. Environmental factors, such as illumination intensity and weather, reduce image quality, resulting in poor feature representation and limited detection accuracy. To enrich the feature representation and mine the underlying context information among objects, this article proposes a context-aware convolutional neural network (CA-CNN) model for object detection that includes proposal generation, context feature extraction, feature fusion, and classification. During feature extraction, we propose integrating a context-regions-of-interests (Context-RoIs) mining layer into the CNN model and extracting context features by mapping Context-RoIs mined from the foreground proposals to multilevel feature maps. Finally, the context features extracted from multilevel layers are fused into a single layer, and the proposals represented by the fused features are classified by a softmax classifier. In this article, through numerous experiments, we thoroughly explore the influence of key factors, such as Context-RoIs, different feature scales, and different spatial context window sizes. Because of the end-to-end network design approach, our proposed model simultaneously maintains high efficiency and effectiveness. We conducted all model testing on the public NWPU VHR-10 data set. The experimental results demonstrate that our proposed CA-CNN model achieves significantly improved model performance and better detection results compared with the state-of-the-art methods.