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Although SRLs can compensate for and enhance human physiological abilities, the unpredictable disturbances caused by human movements significantly affect the coordinating control between the robot and wearer. In this study, a general modeling of supernumerary robotic arms (SRAs) on an omnidirectional floating base is presented. Using position and orientation feedback from sensors at the base and tip, three control methods based on different sensor feedback are proposed to improve tracking accuracy. Experiments on point and trajectory tracking are conducted on the SRAs. In the results (point and circular trajectory\u2010tracking errors with the manipulator as floating base: 1.18\u2009\u00b1\u20090.56\u2009mm [mean\u2009\u00b1\u2009standard deviation(SD) error] and 1.42\u2009\u00b1\u20090.43\u2009mm, point trajectory\u2010tracking errors with the human shoulder as floating base: 1.37\u2009\u00b1\u20090.58\u2009mm, and the performance in perforation positioning operation experiment), it is demonstrated that the proposed controllers enable the SRAs to achieve high\u2010precision tracking and good adaptability to different user movements and frequencies. Also, in the results, future studies on dynamic high\u2010precision manipulation of SRLs are motivated.<\/jats:p>","DOI":"10.1002\/aisy.202300448","type":"journal-article","created":{"date-parts":[[2024,3,27]],"date-time":"2024-03-27T16:09:37Z","timestamp":1711555777000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Motion\u2010Compensation Control of Supernumerary Robotic Arms Subject to Human\u2010Induced Disturbances"],"prefix":"10.1002","volume":"6","author":[{"given":"Qinghua","family":"Zhang","sequence":"first","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"given":"Dongbao","family":"Sui","sequence":"additional","affiliation":[{"name":"Ji Hua Laboratory Jihua Institute of Biomedical Engineering and Technology  Foshan 528200 China"}]},{"given":"Hongwei","family":"Jing","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"given":"Kerui","family":"Sun","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"given":"Yuancheng","family":"Li","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"given":"Xianglong","family":"Li","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"given":"Haotian","family":"Ju","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"given":"Yuan","family":"Tang","sequence":"additional","affiliation":[{"name":"The Department of Mechanical, Aerospace and Civil Engineering University of Manchester  150080 Manchester UK"}]},{"given":"Mingzhu","family":"Lai","sequence":"additional","affiliation":[{"name":"School of Mathematics and Statistics Hainan Normal University  Haikou 571158 China"}]},{"given":"Jie","family":"Zhao","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1960-6278","authenticated-orcid":false,"given":"Yanhe","family":"Zhu","sequence":"additional","affiliation":[{"name":"The School of Mechatronics Engineering Harbin Institute of Technology  Harbin Heilongjiang 150001 China"}]}],"member":"311","published-online":{"date-parts":[[2024,3,27]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1243\/09544062JMES936"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1108\/01439910910980141"},{"key":"e_1_2_10_4_1","doi-asserted-by":"crossref","unstructured":"T.Sasaki M. 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