為改良傳統人機互動系統中，僅依賴位置資訊達到動作同步的高剛性控制缺點，本研究整合阻抗控制、扭矩估測與同動控制，提出具觸覺回饋機制的雙向控制架構。在所發展的雙向控制中，不僅可藉由加入調變因子，作為操作端與輸出端間的虛擬傳動比例，達到不同的運動輸出響應，更能以此延伸至多向控制，擴充人機互動系統的操控自由度。在本研究中，透過整合兩組馬達與虛擬實境負載系統，建構虛實整合的人機互動三端系統。透過兩組馬達可提供兩位操作者同時進行人機互動，並透過力感回饋的方式達到合作、教導之功能。此外，透過記錄操作者的力量與位置，可以重現相同的運動模式；記錄虛擬端的力量與位置，提供操作者針對操作速度、施力的分析，改善操作過程。

Human-computer interaction system provides user an interface to interact with machines, but virtual reality device focus on position following rather than haptic feedback. Due to lack of real force feedback in virtual reality system, this research proposed a haptic feedback control structure which can provide real force feedback and position following. By integrating torque observer, impedance control and synchronous motion control, a bilateral control structure is proposed in this research. The position and torque ratio between the master and slave in bilateral control system can be adjusted by applying scaling factor which can increase the design freedom. Also, bilateral control can be extended into multilateral control to increase the control freedom. Two motors and a virtual load are integrated to form a trilateral virtual reality integration system. Two operators can interact with the motors simultaneously, thus collaboration and teaching are realized using haptic feedback.

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