隨著科技發展，許多人機互動相關應用已日漸蓬勃。本論文基於力感回饋與位置同動之技術基礎，將具觸覺回饋之雙向控制結合虛實整合實現人機互動應用，同時將雙向控制結合運動行為複製，記錄力量和位置作為重現依據，於需要時進行播放。本論文將此概念應用至伺服沖壓工業，由人機互動過程產生加工的運動命令，並藉由虛擬端環境設置，給予操作者觸覺力感與視覺影像，使操作者能透過教導器，快速建立出實際機台所需之加工路徑與力道。而除了重現教導過程中操作者所規劃的路徑與力道外，本論文亦建置運動命令產生器，使重現過程能根據不同需求調整進給速度，以及可調整重現力道，提升應用上所需之功能。同時，為了使重現過程之虛擬端，能更加貼近實際機台，本論文亦導入模型修正架構，結合強健控制設計，使得虛擬端模型與實際物理系統外擾的影響下，實際物理系統的響應仍能貼近虛擬端命令，降低實虛位置誤差。

This paper presents a novel motion copying application with the haptic bilateral control and multilateral control structure, combing with virtual reality to realize the human-machine interaction. In this paper, we’ve divided the motion copying into two parts, motion saving system for the first part and motion reproducing system for the second part. The motion saving system is to create the reproduction motion command by human-machine interaction with multilateral control, recording the position and force data for the future reproduction. The motion reproducing system utilizes the motion command based on the motion saving system to realize the corresponding position and force response by the bilateral control structure with the digital twin we have proposed. In the motion reproducing system, in addition to the original motion command, we can also adjust the reproduction force and velocity based on the scaling factor and interpolator rate for future application. Finally, the feasibility and effectiveness of the proposed approach will be implemented in the emulated servo die cushion system for verification.

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