隨著數位製造時代來臨，設計工具與材料的應用伴隨許多創新的思考。本研究採用實作法，首先由文獻回顧整理人機協作實踐操作的方法，然後透過實作實驗來測試方法並進行創作模式的歸納整理。目的為歸納在人機協作的過程中，人和機器互動的模式以及了解人與機器分別能提供並應用於設計創作上的優勢，思考「人」能夠介入並與機器互動的動態反饋中發覺更多創作的可能性。

研究中相關文獻的整理一部分為數位製造工具在工藝上的應用，強調使用程式控制調整工具狀態，是能夠協助設計師及創作者完成更複雜的設計目標，同時掌握工具使用的狀態也將影響創作成果。另一部分為人與機器相互協作以及應用於編織的相關案例，歸納整理出人與機器協作互動的可能性，結合人與機器的優勢，運用機器的精準程度以及執行動作穩定的優點，以及人的創新思維改造工具特性和人手工以及處理材料特性的決策等，共同創作出符合期望的設計作品。

實驗實作部分，透過運用簡易的機器，以改造的XYZ三軸式3D 列印機進行編織纏繞的實驗操作，探討所訂定的控制參數在操作過程中的影響並從中歸納整理出方法規則。經由文獻與案例研究歸納和前期的實驗探索，得到在數位製造的過程中人與機器的互動方式，主要為透過程式進行機器動作控制的程式控制programmed controls（pc）和人直接介入製造過程的手動控制manual controls（mc）。實驗中主要透過增加或減少支撐物和機器進行協作創作，最後發展整理出程式控制與手動控制的細項，作為研究實驗進行時的人機協作實驗參數。實驗的結果得到作品纏繞的形狀由支撐物所圍塑範圍的輪廓決定，而機器移動路徑與支撐物以及纏繞線鬆緊程度，則會影響作品形變的可能。

將實驗操作所歸納整理出的重點以及方法進行系列作品的創作探索，過程首先透過程式的參數設定，預想控制機器移動路徑以及作品成形的範圍邊界，最後決定成形的形狀。操作過程中，主要以加和減支撐物的方式作為和機器主動互動的協作方式進行，程式控制方面，使機器的移動具有不確定性卻具有可預期的基礎與動作空間，手動控制方面則思考選用支撐物材料、底座形式等控制因素，實踐創作。

本研究初探人與數位製造機器之間的人機協作，透過實驗與創作探索，最後整理歸納人機協作的方法以及創作模式，提供人機協作實驗成果的價值呈現。

With the advent of the digital fabrication technologies, the application of design tools and materials has been accompanied by many innovative thinking. This research approach to explore the crafting process and to summarize the patterns of human-robot interaction and understand the advantages in the human-robot collaboration process.
Based on the experimentation, the experimental operation included two main categories of parameters: programmed controls (pc), and manual controls (mc). By using the simple machine that modified XYZ three-axis 3D printer to carry out the experimental operation of interactive crafting. This research try to think about the possibility of more creation in the dynamic feedback that "human" can intervene and interact with robot. In the experiment, it is mainly through adding or decreasing the jigs for collaborative creation with the robot. In terms of program control, the movement of the robot is uncertain but has a predictable foundation and action space. In terms of manual control, select jig’s materials, base form and other controlling factors to practice creation.
Through literature and case study and preliminary experimental exploration, the result of the experiment is that the shape of the winding work is determined by the outline of the plastic range surrounded by the jigs, and the degree of tightness of the robot's movement path. The jigs and winding line will affect the possibility of deformation for the form. This research explores the human-robot collaboration, through experiment and creative exploration finally summarizes the methods and creative modes of human-robot collaboration, looking forward to provide the value experimental results.

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