Safe physical human-robotic interaction is a crucial concern for worn exoskeletons where lower weight requirement limits the number and size of actuators to be used. A novel control strategy is suggested in this paper for the low degree of freedom exoskeletons, by combining proposed mechanically decoupled passive-compliant arm-supports with active compliance, to achieve an improved and safer physical-human-robotic-interaction performance, while considering the practical limitations of low-power actuators. The approach is further improved with a novel vectoral-form of disturbance observer-based dynamic load-torque compensator, proposed to linearize and decouple the nonlinear human-machine dynamics effectively. The design of a four-degree of freedom exoskeleton test-rig that can assure the implementation of the proposed strategy is also shortly presented. It is shown through simulation and experimentation, that the use of proposed strategy results in an improved and safer physical human-robotic interaction, for the exoskeletons using limited-power actuators. It is also shown both through simulation and experimentation, that the proposed vectoral-form of disturbance based dynamic load-toque compensator, effectively outperforms the other traditional compensators in compensating the load-torques at the joints of the exoskeleton.

对于磨损的外骨骼，安全的人机交互是至关重要的问题，在外骨骼中，较低的重量要求限制了所用致动器的数量和尺寸。针对低自由度外骨骼，本文提出了一种新颖的控制策略，该方法将建议的机械解耦的被动顺应性手臂支撑与主动顺应性相结合，从而在考虑人为因素的前提下实现了改进且更安全的人机交互小功率执行器的实际限制。该方法通过基于扰动观测器的新型矢量形式的动态负载-转矩补偿器得到了进一步改进，提出了一种有效地线性化和解耦非线性人机动力学的方法。不久还将提出一种四自由度外骨骼测试台的设计，以确保所提出策略的实施。通过仿真和实验表明，对于使用有限功率执行器的外骨骼，所提出的策略的使用可导致改善的和更安全的人机交互。通过仿真和实验还表明，所提出的基于扰动的矢量形式的动态负载转矩补偿器在补偿外骨骼关节处的负载转矩方面有效地优于其他传统的补偿器。