近年來，機器人已逐漸涉及醫療保健、家庭生活與社會福利。當這些社會需求增加時，人們將會迫切地需要在人類與機器人間擁有安全機制界面之機器人。本論文的目標在於建構一隻能夠與人類共存的類人形機械手臂。此一具有七自由度之機械手臂乃由肩部、肘部與腕部所組成，且在前臂設計了一個擁有可感知外力之外罩。本論文提出基於智慧型阻抗控制之控制策略，藉以產生順應性運動。最後，以實驗來驗證本論文所建構之具力感知外罩之類人形機械手臂，所做的實驗包含自由空間運動及順應性運動控制。

In recent years, robots have been gradually involving in health care, home life and social welfare. As these societal needs increase, the creation of robots with the capability of safe physical human-robot interaction will be required. The objective of this thesis is to design an anthropomorphic robot arm that can share the environment with humans. The constructed robot arm with 7 degrees of freedom comprises shoulder, elbow and wrist joints. A force-detectable surface cover is designed and installed on the forearm. A control strategy based on an intelligent impedance controller is also proposed to create compliant motion. Finally, the theoretical results are experimentally verified on the constructed anthropomorphic robot arm with a force-detectable surface cover. Specific experimental demonstrations include unconstrained maneuvers and compliant motion control.

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