隨著高齡化社會的發展，市面上的外骨骼產品越來越多元，其中助力型外骨骼不僅可以減少勞動負擔，也可以避免勞動損傷的情況發生，醫療型外骨骼可以提供傷患便利的復健過程。另一方面，此類型的外骨骼裝置，在發生步態切換時，外骨骼無法達到即時的控制模式切換，容易造成不舒適的頓挫感。在此背景下，本文提出一套能源回收的架構，針對行走減速的判定，採用閉迴路控制，準確切換儲能系統的開關。在本文的系統架構中，感測器訊號由樹梅派接收，分別收取做為控制，透過事先的分析判斷，分析馬達在減速下電壓變化的情形。在系統驗證方面，針對減速的步態，個別收取一定筆數之電壓資料，並在分析過後對於控制開關的係數調整，最終觀測能量儲存的結果。實驗結果證明了本論文開發之系統在實務上的適用性，對於馬達運轉的能源回收具有良好的參考價值。

As societies age, the market for exoskeletons is expanding and diversifying. Power-assist exoskeletons not only reduce physical workload but also help prevent work-related injuries, while medical exoskeletons facilitate more efficient and convenient rehabilitation for patients. To extend the operational time of exoskeleton systems, this study focuses on energy recovery and storage during gait transitions, utilizing deceleration phases to harvest regenerative energy. A feedback control framework is proposed to dynamically regulate power flow based on walking behavior. The system architecture employs a Raspberry Pi to acquire and process sensor signals in real time, and motor voltage fluctuations during deceleration are analyzed to inform control decisions. For validation, voltage data were recorded under various walking conditions, and control parameters were adjusted accordingly. The observed energy storage outcomes confirm the system’s practicality and provide insights into motor-based energy recovery, while the experimental findings validate the effectiveness of the proposed method in real-world conditions.

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