隨著科技發展日漸蓬勃，數位阻力技術輔助傳統運動器材之應用已成為趨勢。傳統機械式重量訓練器材由實體重量塊提供阻力，雖然結構簡易，卻缺乏即時數據反饋能力且阻力特性單一，無法滿足使用者更多樣化的需求。因此本論文旨在開發馬達驅動型滑輪訓練機，除了還原傳統器材之真實阻力體感外，亦可進一步導入客製化功能設計及空間域數據分析。
文中提出結合動力阻抗控制與轉矩偏置之控制策略，利用虛擬慣量與虛擬阻尼重塑系統之動力學行為，並透過轉矩偏置產生恆定負載，成功重現實體重力、慣性與阻尼特徵。在硬體實作上，本系統整合低慣量交流伺服馬達、減速機與捲線筒，並透過軟體定義位移閾值實現客製化起始訓練位置與最大速度保護，且操作者在未達閾值前可無阻力牽引訓練握把至預備姿勢，跨越閾值後阻力命令導入緩啟動設計，有效降低肌肉拉傷風險以提升操作安全性。
最後，本研究建立雙邊對稱式實際滑輪機平台進行對照實驗。模擬與實測結果顯示，系統之位置響應與傳統機構具備高度一致性，且能採樣即時訊號並映射至空間域之位移軸，建構出「施力-位移」與累積作功等曲線。此多元物理量之多維度運動數據結構，成功打破傳統器材僅能記錄訓練次數的限制，為評估肌肉爆發力表現、能量輸出持續性與神經肌肉控制穩健度提供了科學化依據。

This study presents the design and implementation of a motor-driven digital pulley training machine capable of emulating the dynamic behavior of conventional weight-stack systems. A control strategy combining impedance control and torque offset is proposed to reproduce both the inertial and gravitational characteristics of physical resistance. Specifically, impedance control is employed to shape the system dynamics through virtual inertia and virtual damping, while torque offset generates a constant load equivalent to the gravitational force. Beyond reproducing realistic resistance behavior, the digital pulley machine provides additional functionalities, including customizable initial positions and maximum-speed protection. Furthermore, the system enables the acquisition of detailed training data, including user force profiles, pulling velocity, displacement, position-dependent force output, and total work performed. These capabilities support detailed performance analysis and provide training metrics that are not readily available from traditional mechanical training equipment.

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