本研究旨在設計一套馬達驅動及可調式阻力之橋式運動輔助裝置原型，並提出位置相依扭矩補償策略，以改善固定扭矩控制下因機構負載變化所造成的運動不平順問題。橋式運動常用於臀部、腿後側與核心肌群訓練，亦可應用於復健與功能性訓練。然而，肌力不足者可能因骨盆抬升困難而產生動作不完整或腰部代償；肌力較佳者則可能因徒手橋式負荷不足，而難以獲得進一步訓練刺激。
本研究裝置由伺服馬達、滾珠螺桿、線性滑軌、滑台、RRRP 滑塊搖桿機構與背板支撐結構組成。伺服馬達帶動滾珠螺桿，使滑台產生直線位移，再透過推桿與背板支撐桿帶動背板抬升或下降，使使用者能在背板支撐下進行橋式運動。控制方面，先以固定扭矩控制觀察裝置運動特性，結果顯示固定扭矩會因機構位置改變而造成速度不均。因此，本研究透過低速等速量測建立位置－扭矩補償資料，並依即時編碼器位置輸出對應扭矩命令，以形成與位置相依的扭矩補償控制。
研究結果顯示，導入補償後，背板運動較固定扭矩控制更為平順。進一步加入扭矩偏移量後，可使補償曲線整體上移或下移，形成助力、無負載與阻力模式。使用者實際體驗結果顯示，助力模式可降低主觀費力程度，阻力模式則可增加訓練負荷感受。綜合而言，本研究完成橋式運動輔助裝置之機構設計、控制策略建立與初步使用者驗證，證實本裝置具備助力與阻力模式切換之可行性。未來可加入力感測器、荷重元與肌電訊號量測，以進一步評估人體實際受力與肌肉活化情形。

This study aims to design a prototype of a servo motor-driven bridge exercise assistive device with adjustable resistance and to develop a position-dependent torque compensation strategy for improving motion smoothness. Bridge exercise is commonly used for gluteal, hamstring, and core stabilization training. However, users with insufficient muscle strength may have difficulty lifting the pelvis, while users with better strength may find bodyweight bridge exercise insufficient for training stimulus.
The proposed device consists of a servo motor, servo drive, ball screw, linear guide, slide, RRRP slider-rocker mechanism, safety belt, and backboard structure. The servo motor drives the ball screw to convert rotational motion into linear motion, and the slide transmits motion to the backboard through the linkage mechanism. The control system uses torque control with encoder feedback. A constant torque test showed that fixed torque control caused nonuniform motion because the mechanical load varied with position. Therefore, a low-speed constant-velocity test was conducted to establish position–torque compensation data, and a position-dependent torque compensation strategy was implemented.
User testing with eight healthy adults showed that the assistance mode reduced perceived effort, while the resistance mode increased perceived training load. These results indicate that the proposed device can provide distinguishable assistance and resistance effects. Future work should include force sensors, load cells, and electromyography to evaluate actual human-device interaction force and muscle activation.

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