Real-Time Continuous Locomotion Mode Recognition and Transition Prediction for Human With Lower Limb Exoskeleton.

Xiaohui Zhang 0010 Heidelberg University, Institut für Technische Informatik (ZITI), Heidelberg, Germany https://orcid.org/0000-0001-8438-546X https://ieeexplore.ieee.org/author/37089213014 Xiaohui Zhang Xiaohui Zhang 0001 Nanyang Technological University, School of Electrical and Electronic Engineering, Singapore Xiaohui Zhang 0002 Henan University of Technology, College of Electrical Engineering, Zhengzhou, China https://orcid.org/0000-0002-7970-2448 Xiaohui Zhang 0003 Kunming University of Science and Technology, Faculty of Metallurgical and Energy Engineering, Kunming, China https://orcid.org/0000-0003-0767-6487 Xiaohui Zhang 0004 University of Liverpool, UK Xiaohui Zhang 0005 Sheffield Hallam University, UK Xiaohui Zhang 0006 University of Notre Dame, MINE Lab, Notre Dame, IN, USA Chinese Academy of Sciences, Institute of Automation, State Key Laboratory of Multimodal Artificial Intelligence Systems, Beijing, China Beijing Jiaotong University, School of Computer and Information Technology, Beijing, China https://cecile-hi.github.io/ https://scholar.google.com/citations?user=-7ZwZbMAAAAJ https://orcid.org/0000-0002-9949-5415 https://www.wikidata.org/entity/Q131168903 Xiaohui Zhang 0007 Meta AI, New York, NY, USA Johns Hopkins University, Center for Language and Speech Processing, Baltimore, MD, USA https://ai.meta.com/people/929908865302558/xiaohui-zhang/ https://scholar.google.com/citations?user=3mJXfe8AAAAJ https://www.researchgate.net/profile/Xiaohui-Zhang-16 Xiaohui Zhang 0008 Chinese Academy of Sciences, Institute of Information Engineering, Beijing, China University of Chinese Academy of Sciences, School of Cyber Security, Beijing, China https://orcid.org/0000-0002-7090-4932 https://ieeexplore.ieee.org/author/37088542062 Xiaohui Zhang 0009 Qinghai Normal University, School of Computer, Xining, China Northwest Normal University, College of Mathematics and Statistics, Lanzhou, China Xiaohui Zhang 0011 Wuhan University, School of Power and Mechanical Engineering, Wuhan, China https://orcid.org/0009-0008-2436-5350 Xiaohui Zhang 0012 Bayer, Chesterfield, MO, USA University of Illinois at Urbana-Champaign, Department of Bioengineering, Urbana, IL, USA Beihang University, School of Biological Science and Medical Engineering, Beijing, China https://caelyncheung1996.github.io/ https://loop.frontiersin.org/people/560792/overview https://www.webofscience.com/wos/author/record/2656721 https://sciprofiles.com/profile/2173535 https://www.linkedin.com/in/xiaohui-zhang-bab633ab https://orcid.org/0000-0002-7990-1594 https://www.wikidata.org/entity/Q89702635 https://www.scopus.com/authid/detail.uri?authorId=57225101058 Xiaohui Zhang 0013 Naval University of Engineering, Department of Weapon Engineering, Wuhan, China https://orcid.org/0000-0003-1428-5169 Xiaohui Zhang 0014 Xi'an University of Technology, School of Computer Science and Engineering, Xi'an, China https://orcid.org/0000-0001-8498-6783 Xiaohui Zhang 0015 Beihang University, School of Engineering Medicine, Beijing Advanced Innovation Centre for Biomedical Engineering, Beijing, China King's College London, School of Biomedical Engineering and Imaging Sciences, London, UK Beihang University, School of Mechanical Engineering and Automation, Beijing, China https://orcid.org/0000-0003-4558-943X https://ieeexplore.ieee.org/author/37086800672 Xiaohui Zhang 0016 Huazhong University of Science and Technology, School of Computer Science and Technology, Key Laboratory of Cluster and Grid Computing, Key Laboratory of Services Computing Technology and System, Wuhan, China https://orcid.org/0000-0003-3471-0038 https://ieeexplore.ieee.org/author/37089712203 Xiaohui Zhang 0017 Inspur (Beijing) Electronic Information Industry Co., Ltd, Beijing, China Inspur Electronic Information Industry Co., Ltd, Jinan, China https://orcid.org/0009-0004-5178-0235 https://www.wikidata.org/entity/Q131021994 Xiaohui Zhang 0018 Peking University, People's Hospital, Institute of Hematology, Beijing, China https://orcid.org/0000-0003-4730-256X Xiaohui Zhang 0019 Kunming University of Science and Technology, Faculty of Information Engineering and Automation, Kunming, China https://orcid.org/0000-0001-5057-6372 Xiaohui Zhang 0020 Northwest Normal University, College of Computer Science and Engineering, Lanzhou, China https://orcid.org/0000-0003-4962-1337 Xiaohui Zhang 0021 Henan University of Science and Technology, School of Information Engineering, Luoyang, China University of Louisville, Department of Electrical and Computer Engineering, Louisville, KY, USA https://orcid.org/0000-0002-6785-6546 Xiaohui Zhang 0022 Henan Xinda Wangyu Technology Co., Ltd., Zhengzhou, China https://orcid.org/0000-0003-2545-6189 Xiaohui Zhang 0023 Southeast University, National Prestress Engineering Research Center, Key Laboratory of C & PC Structures of Ministry of Education, Nanjing, China https://orcid.org/0000-0002-7617-8679 Xiaohui Zhang 0024 Dalian University of Technology, International School of Information Science & Engineering, Dalian, China https://orcid.org/0000-0002-1942-2321 Xiaohui Zhang 0025 Inner Mongolia University, College of Electronic Information Engineering, Hohhot, China https://orcid.org/0000-0002-9249-1702

Xunju Ma Yali Liu Xiaohui Zhang 0010 Lorenzo Masia Qiuzhi Song Real-Time Continuous Locomotion Mode Recognition and Transition Prediction for Human With Lower Limb Exoskeleton. 1074-1086 2025 February 29 IEEE J. Biomed. Health Informatics 2 https://doi.org/10.1109/JBHI.2024.3462826 db/journals/titb/titb29.html#MaLZMS25 streams/journals/titb

Xiaohui Zhang 0010 Enrica Tricomi Xunju Ma Manuela Gomez-Correa Alessandro Ciaramella Francesco Missiroli Luka Miskovic Huimin Su Lorenzo Masia A Lower Limb Wearable Exosuit for Improved Sitting, Standing, and Walking Efficiency. 127-140 2025 41 IEEE Trans. Robotics https://doi.org/10.1109/TRO.2024.3492452 db/journals/trob/trob41.html#ZhangTMGCMMSM25 streams/journals/trob

Enrica Tricomi Giuseppe Piccolo Federica Russo Xiaohui Zhang 0010 Francesco Missiroli Sandro Ferrari Letizia Gionfrida Fanny Ficuciello Michele Xiloyannis Lorenzo Masia Leveraging Geometric Modeling-Based Computer Vision for Context Aware Control in a Hip Exosuit. 3462-3479 2025 41 IEEE Trans. Robotics https://doi.org/10.1109/TRO.2025.3567489 db/journals/trob/trob41.html#TricomiPRZMFGFXM25 streams/journals/trob

Xiaohui Zhang 0010 Enhancing lower-limb movement efficiency via integration of machine learning and soft wearable robotics. 2024 1-130 University of Heidelberg, Germany https://d-nb.info/1339949717

Enrica Tricomi Francesco Missiroli Michele Xiloyannis Nicola Lotti Xiaohui Zhang 0010 Marios Stefanakis Maximilian Theisen Jürgen Bauer Clemens Becker Lorenzo Masia Soft robotic shorts improve outdoor walking efficiency in older adults. 1145-1155 2024 6 Nat. Mac. Intell. 10 https://doi.org/10.1038/s42256-024-00894-8 db/journals/natmi/natmi6.html#TricomiMXLZSTBBM24 streams/journals/natmi

Luka Miskovic Enrica Tricomi Xiaohui Zhang 0010 Francesco Missiroli Kristina Krstanovic Tadej Petric Lorenzo Masia Coupling Rigid Pneumatic Knee Exoskeleton with Soft Tendon-Driven Hip Exosuit: First Insights. 538-543 2024 BioRob https://doi.org/10.1109/BioRob60516.2024.10719965 conf/biorob/2024 db/conf/biorob/biorob2024.html#MiskovicTZMKPM24 streams/conf/biorob Huimin Su Francesco Missiroli Xiaohui Zhang 0010 Cristina Becchio Hyung-Soon Park Lorenzo Masia Advanced Soft Wearable Robotics for Rehabilitation: Incorporating Forearm Rotation in a Glove Exosuit to Augment Grasping Capabilities and Improve Therapeutic Outcomes. 1011-1016 2024 BioRob https://doi.org/10.1109/BioRob60516.2024.10719915 conf/biorob/2024 db/conf/biorob/biorob2024.html#SuMZBPM24 streams/conf/biorob

Enrica Tricomi Mirko Mossini Francesco Missiroli Nicola Lotti Xiaohui Zhang 0010 Michele Xiloyannis Loris Roveda Lorenzo Masia Environment-Based Assistance Modulation for a Hip Exosuit via Computer Vision. 2550-2557 2023 May 8 IEEE Robotics Autom. Lett. 5 https://doi.org/10.1109/LRA.2023.3256135 db/journals/ral/ral8.html#TricomiMMLZXRM23

Xiaohui Zhang 0010 Enrica Tricomi Francesco Missiroli Nicola Lotti Xunju Ma Lorenzo Masia Improving Walking Assistance Efficiency in Real-World Scenarios with Soft Exosuits Using Locomotion Mode Detection. 1-6 2023 ICORR https://doi.org/10.1109/ICORR58425.2023.10304773 conf/icorr/2023 db/conf/icorr/icorr2023.html#ZhangTMLMM23

Enrica Tricomi Nicola Lotti Francesco Missiroli Xiaohui Zhang 0010 Michele Xiloyannis Thomas Müller Simona Crea Emese Papp Jens Krzywinski Nicola Vitiello Lorenzo Masia Underactuated Soft Hip Exosuit Based on Adaptive Oscillators to Assist Human Locomotion. 936-943 2022 7 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2021.3136240 db/journals/ral/ral7.html#TricomiLMZXMCPK22

Marek Sierotowicz Nicola Lotti Laura Nell Francesco Missiroli Ryan Alicea Xiaohui Zhang 0010 Michele Xiloyannis Rüdiger Rupp Emese Papp Jens Krzywinski Claudio Castellini Lorenzo Masia EMG-Driven Machine Learning Control of a Soft Glove for Grasping Assistance and Rehabilitation. 1566-1573 2022 7 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2021.3140055 db/journals/ral/ral7.html#SierotowiczLNMA22

Xiaohui Zhang 0010 Enrica Tricomi Francesco Missiroli Nicola Lotti Casimir Bokranz Daniela Nicklas 0002 Lorenzo Masia Enhancing Gait Assistance Control Robustness of a Hip Exosuit by Means of Machine Learning. 7566-7573 2022 7 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2022.3183791 db/journals/ral/ral7.html#ZhangTMLBNM22

Xiaohui Zhang 0010 Enrica Tricomi Francesco Missiroli Nicola Lotti Casimir Bokranz Daniela Nicklas 0002 Lorenzo Masia Enhancing Gait Assistance Control Robustness of a Hip Exosuit by means of Machine Learning. 1-8 2022 BioRob https://doi.org/10.1109/BioRob52689.2022.9925285 conf/biorob/2022 db/conf/biorob/biorob2022.html#ZhangTMLBNM22 Nicola Lotti Enrica Tricomi Francesco Missiroli Xiaohui Zhang 0010 Lorenzo Masia Machine Learning techniques in soft robotic suits for whole body assistance. 1-6 2022 DASC/PiCom/CBDCom/CyberSciTech https://doi.org/10.1109/DASC/PiCom/CBDCom/Cy55231.2022.9927957 conf/dasc/2022 db/conf/dasc/dasc2022.html#LottiTMZM22 Ryan Alicea Jürgen Bauer Cristina Becchio Clemens Becker Casimir Bokranz Claudio Castellini Alessandro Ciaramella Simona Crea Sandro Ferrari Fanny Ficuciello Letizia Gionfrida Manuela Gomez-Correa Kristina Krstanovic Jens Krzywinski Yali Liu Nicola Lotti Xunju Ma Lorenzo Masia Luka Miskovic Francesco Missiroli Mirko Mossini Thomas Müller Laura Nell Daniela Nicklas 0002 Emese Papp Hyung-Soon Park Tadej Petric Giuseppe Piccolo Loris Roveda Rüdiger Rupp Federica Russo Marek Sierotowicz Qiuzhi Song Marios Stefanakis Huimin Su Maximilian Theisen Enrica Tricomi Nicola Vitiello Michele Xiloyannis