With an aging population and the high incidence of neurological diseases, rehabilitative lower limb exoskeleton robots, as a wearable assistance device, present important application prospects in gait training and human function recovery. As the core of human–computer interaction, control strategy directly determines the exoskeleton’s ability to perceive and respond to human movement intentions. This paper focuses on the control strategies of rehabilitative lower limb exoskeleton robots. Based on the typical hierarchical control architecture of “perception–decision–execution,” it systematically reviews recent research progress centered around four typical control tasks: trajectory reproduction, motion following, Assist-As-Needed (AAN), and motion intention prediction. It emphasizes analyzing the core mechanisms, applicable scenarios, and technical characteristics of different control strategies. Furthermore, from the perspectives of drive system and control coupling, multi-source perception, and the universality and individual adaptability of control algorithms, it summarizes the key challenges and common technical constraints currently faced by control strategies. This article innovatively separates the end-effector control strategy from the hardware implementation to provide support for a universal control framework for exoskeletons.

To investigate the influence of moisture content, density, and loading frequency on the dynamic strength and liquefaction characteristics of sandy soil, a series of vibration triaxial tests were designed and conducted. The tests were divided into incremental loading tests and cyclic loading failure tests. The results of the incremental loading tests indicated that the shear modulus decreases with increasing moisture content and density, while it increases with increasing loading frequency. The damping ratio of unsaturated samples showed no significant correlation with moisture content, whereas samples with a density above 50% exhibited an increasing trend in damping ratio with increasing density. The damping characteristics of the sandy soil were found to be related to the loading frequency, exhibiting the characteristics of viscous damping. The results of the cyclic loading tests revealed that the dynamic failure mode of the sand soil is the ultimate equilibrium failure mode. Increasing moisture content and decreasing density make the samples more susceptible to failure. During the process of cyclic loading leading to dynamic failure, the shear modulus of unsaturated samples remains constant, while the shear modulus of saturated samples gradually decreases. The damping ratio of saturated soil is significantly higher than that of unsaturated soil. During the process of cyclic loading leading to dynamic failure, the damping ratio of saturated soil shows no apparent correlation with loading frequency, but it decreases with increasing density.

As a disaster-bearing body, the coal mine is vulnerable to the impact threat of rainstorm disasters, which easily induce flooding accidents. In view of this, this study is designed to propose the vulnerability assessment method of rainstorm-induced coal mine flooding disasters. On account of the scientific theory of disaster risk, the evaluation model and index system of coal mine flooding disaster induced by rainstorm covering exposure, fortification level, and resilience are constructed, while the vulnerability assessment method based on Tri-AHP method is proposed. Study results demonstrate that population exerts the greatest impact on exposure, wellhead elevation matters the most for fortification level, and the emergency plan has a dominant influence on resilience. Therefore, for coal mines, it is suggested to strengthen the special rainstorm emergency plan drill, improve the fortification level, and solidify the emergency duty during the rainy season. In this study, the rainstorm disaster vulnerability assessment method of coal mine is innovatively put forward, which is conducive to sustainable energy and environmental development.

This research aims to investigate the impact of high-pressure water jet cutting parameters on pressure alleviation around the coal slot. A numerical model of high-pressure water jet cutting coal was developed using FLAC^3D software, allowing for a detailed study of how each cutting parameter affects the pressure relief effect of the slot. The key findings are as follows: as the water jet pressure increases, the plastic area of the coal body around the kerf expands, although the rate of increase diminishes, with the optimal water jet pressure being 30 Mpa. The results suggest that hydraulic slotting measures are particularly beneficial for outburst prevention in high in situ stress coal seams. The pressure relief range exponentially grows with an increase in the kerf depth, signifying that enhancing the kerf depth has a notable effect on improving the hydraulic kerf pressure relief. As the slit width increases, the volume of the slit enlarges, leading to a significant rise in the pressure relief range of the surrounding coal body. Given that an increase in the slit width necessitates an increase in the nozzle outlet diameter and slotting time, the optimal slit width is determined to be 0.2 m. The research concludes that the optimal hydraulic slit spacing is 3 m. This study offers valuable theoretical guidance for high-pressure water jet slotting.

In order to effectively control the stability of surrounding rock in ultra-large span open-off cuts by employing the techniques of support strength theory calculations and analogical application methods, two sets of rational support schemes were proposed, and the optimal design of active support parameters in thick coal seams with ultra-large span open-off cuts was explored by using theoretical analysis, numerical simulation, and field experiments. The results demonstrated that the span is one of the key factors influencing the stability of the roadway roof, exhibiting an inverse quadratic relationship with the peak stress borne by the roadway roof. By utilizing the pre-stressing force of anchor cables and support strength formulas, two sets of active support schemes for controlling the surrounding rock in thick coal seams with ultra-large span open-off cuts were established, and an optimized support scheme was obtained through numerical simulation. These findings provide references and guidance for related mining engineering under actual conditions in mines.

Previously conducted studies have established that as a disaster-bearing body, a coal mine is vulnerable to flood disasters and their consequent impacts. The purpose of this study is to put forward a quantitative evaluation method of the risk of coal mine flood disaster. Based on the scientific theory of disaster risk, a risk assessment model and index system for coal mine flood disaster was constructed, and a risk assessment method was proposed based on the projection pursuit and fuzzy cluster analysis. The results show that the risk of coal mine flood disaster was mainly determined by the hazard of disaster-causing factors, the stability of the disaster-prone environment, and the vulnerability of disaster-bearing bodies. Further research shows that the maximum daily rainfall had the greatest impact the risk of coal mine flood disaster. Therefore, the early warning mechanism should be established between the coal mine and the meteorological department to improve the fortification level. A risk assessment method of coal mine flood disaster was proposed in this study, which is of great significance for energy sustainability.