隨著科技進步，越來越多研究投入到外骨骼領域以協助人類達到特定任務為目標，而著個人健康意識的上升，又以復健訓練為主要研究方向。在外骨骼與使用者的互動之中，兩者之間的交互作用力可視為最重要的訊息之一，此訊息不僅可做為控制策略的依據，亦是影響使用者舒適程度的指標。在本論文中將交互作用力視為估測外力矩值，透過兩種交互作用力矩估測演算法結合導納控制器，讓上肢外骨骼可順應使用者的動作進行復健訓練及增加使用者操作安全性。在常見的順應控制器中，通常將各軸馬達的虛擬質量、彈簧、阻尼等元件之參數值設為固定值。本論文提出一虛擬通道的方法，透過即時調整虛擬被動元件參數值，讓使用者可依據個人自主運動能力於通道內進行不同的復健訓練任務。另外進行兩種速度估測法的比較，優化外力矩估測演算法以及提升使用者的舒適性。最後，本論文於使用上肢外骨骼實驗平台進行數項實驗以驗證上述方法的有效性，並提出一性能指標，以判斷復健訓練對使用者而言為助力復健抑或是阻力訓練。

With technological advancements, increasing research is being invested in the field of exoskeletons to assist humans in specific tasks. As personal health awareness rises, the focus aiming at rehabilitation training. The interaction forces between the exoskeleton and the user are crucial, serving as the basis for control strategies and an indicator of user comfort. This paper estimates interaction torque through two estimation algorithms combined with an admittance controller, allowing the exoskeleton to adapt to user movements for safe rehabilitation.
In common compliant controllers, parameters such as virtual mass, spring, and damping for each motor axis are fixed. This paper proposes a virtual tunnel method to adjust these parameters in real-time, enabling users to perform various rehabilitation tasks based on their abilities. Additionally, the study compares two velocity estimation methods to optimize torque estimation algorithms and enhance user comfort. The effectiveness of these methods is validated using an upper limb exoskeleton experimental platform, and a performance indicator is proposed to determine whether the rehabilitation training aids or resists the user.

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