In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical control equations based on Newton-Euler Inverse Dynamics. Compared to feedback control systems, the feedforward approach offers several advantages. It eliminates the need for external torque sensors, resulting in reduced hardware complexity and weight. Moreover, the feedforward control exhibits a more proactive response, leading to enhanced performance. The exoskeleton used in the experiments is lightweight and comprises 4 Degrees of Freedom, closely mimicking human upper body kinematics and three-dimensional range of motion. We conducted tests on both hardware and simulations of the exoskeleton, demonstrating stable performance. The system maintained its position over an extended period, exhibiting minimal friction and avoiding undesired slewing.

本研究提出了一种基于前馈控制系统的上半身外骨骼主动重力补偿系统，该系统利用内部电机传感器的位置数据计算扭矩，并采用基于牛顿-欧拉逆动力学的分析控制方程。与反馈控制系统相比，前馈控制方法具有几个优点，包括消除了对外部扭矩传感器的需求，减少了硬件复杂性和重量；此外，前馈控制对于响应更加积极，性能更强。实验中使用的外骨骼轻巧且具有4个自由度，紧密模拟人体上半身运动学及三维活动范围。我们对外骨骼进行了硬件和仿真测试，证明了其稳定性能。该系统能够在长时间内维持位置稳定，具有极小的摩擦和无意的旋转运动。

上半身外骨骼技术的进展：采用前馈控制器实现主动重力补偿