鑑於人機互動系統對擬真觸覺回饋功能的需求，整合阻抗控制與同動控制之雙向控制技術已廣泛被應用，透過主、從雙端間的位置及力量訊號回授，便能同時達到雙端的運動狀態同步及觸覺回饋。然而，人機互動操作需同時考量使用者的施力、操作機台阻力及環境負載，如何在雙向控制架構中，辨別系統的不同受力，將是核心的關鍵技術。因此，本論文提出於雙向控制系統採用磁性聯軸器，藉由撓性傳動元件於動力傳遞兩端旋轉角度的偏差量，經由系統建模計算使用者之受力，使磁性聯軸器同時兼具傳動及扭力感測的功能。本論文亦搭配外擾觀測器設計，觀測機台的外擾阻力並作為外擾前饋補償，使操作者能感受到更真實的觸覺體驗。透過實體的轉向機構及軟體系統之虛實整合測試平台，驗證所提之撓性傳動設計於雙向控制系統技術的可行性。

On the demand for realizing the haptic feedback function besides position following for better experience in human-machine interaction systems, this study proposes a haptic bilateral control integrating synchronous motion control and impedance control. Based on this structure, the environmental load will be transferred to users when the slave side contacts with the environment. However, with the combination of motors and mechanical linkages, disturbance in systems influences users’ feelings and deteriorates the quality of haptic transmission. Therefore, distinguishing disturbance from human-machine systems and taking compensation are essential technologies needed to be considered. In this paper, a flexible module integrated by magnetic coupling and position encoders is proposed to calculate the haptic torque feedback to users and to define disturbances when combining with torque observer. Meanwhile, the disturbance compensation method is utilized to ensure haptic feedback is more consistent with environmental load, allowing tactile sensation to become more real and clear. By utilizing a real system and virtual platform to form a virtual reality system, the feasibility and effectiveness of the proposed method are verified by experimental results. Moreover, with the implementation of a virtual reality haptic feedback vehicle steering system, this paper also demonstrates the applicability of the proposed control structure.

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