@article{advancementsinupperbodyexoskeleton,
  title = {Advancements in Upper Body Exoskeleton: Implementing Active Gravity Compensation with a Feedforward Controller},
  author = {Muhammad Ayaz Hussain and Ioannis Iossifidis},
  year = {2023},
  eprint = {2309.04698},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2309.04698v1},
}