近年來，智慧健身與數位阻力訓練平台快速發展，使健身器材由傳統被動式機構轉向具備可程式化阻力與即時控制之系統。然而，多數平台仍以單端輸出為主，缺乏雙端同步控制設計。因此，本研究建立一套可程式化阻力之雙臂對稱訓練平台，並以彈性阻力模式為主要研究對象。
本研究建立雙端水平拉訓練平台之數學模型，並化簡為等效轉動慣量與阻尼模型。在單端模式下，透過阻抗控制實現彈性阻力，使阻力隨位移增加，並建立電子剛性參數 K_{K} 與訓練剛度之關係。實驗結果顯示，力－位置關係近似線性，且實測剛度與理論誤差約為6%以內。
在雙端控制方面，本研究提出 bilateral impedance control（BIC）架構，結合 PD 耦合控制與單端阻抗控制，使系統可透過 K_{p}、K_{d} 與 K_{K} 分別調整同步性、平順性與訓練阻抗。模擬結果顯示，各參數皆能有效影響系統行為。
本研究成功建立雙臂對稱訓練平台，並驗證其彈性阻力與雙端同步控制之可行性，可作為未來智慧健身與數位阻力系統之設計基礎。

This paper presents a motor-driven digital training platform integrating bilateral control and impedance control. The proposed bilateral control scheme ensures that the positions of the user’s both hands remain synchronized throughout the training process, thereby enhancing coordinated bilateral motion and potentially reducing improper movement patterns. By incorporating impedance control, the motor-driven digital training platform eliminates the need for traditional flywheel mechanisms and enables programmable resistance, allowing multifunctional operation within a single device. In addition, the proposed digital training platform offers both bilateral and unilateral modes, providing flexibility for two-handed coordinated training as well as single-handed exercises. Simulation results demonstrate that the proposed digital training platform enables adjustable bilateral coordination and flexible resistance shaping for smart training applications.

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