近年來許多學者研究如何將力輔助裝置應用於健身及復健以增進健身及復健之效率。於設計力輔助裝置時需遵守以下原則：1). 力輔助裝置需協助使用者完成健身或復健動作以達到訓練特定肌群之目的；2). 力輔助裝置需提供使用者適當負載以增進健身或復健功效；3). 力輔助裝置需確保使用者之安全。本論文中提出一種可用於手臂健身及復健之力輔助裝置控制架構。為了協助使用者完成健身或復健動作，應用計算力矩法以進行裝置之循跡控制，並提出干擾量觀測器對干擾進行補償以改善循跡效能。為了提供使用者適當負載，透過阻抗控制調節裝置之動態使其模擬質量塊–彈簧–阻尼器系統。並以觀測器取代力量感測器對使用者接觸力進行估測以用於阻抗控制，如此可克服力量感測器頻寛狹窄及價格昂貴之問題。為了確保使用者安全，透過被動式速度控制使系統具被動特性。最後並建構手臂健身/復健裝置實驗平台以對本論文所提出之控制架構進行驗證。

In recent years, many researchers have studied how to employ power assisting devices in order to improve the efficiency of exercise and rehabilitation. There are some criteria when designing power assisting devices: 1). Power assisting devices should assist users in accomplishing movements designed for exercise or rehabilitation in the training of specific muscles; 2). Power assisting devices should provide moderate loads for users to enhance the effectiveness of exercise and rehabilitation. 3). Power assisting devices should ensure the safety of users. In this thesis, a control scheme is proposed for arm exercise and rehabilitation devices. In order to assist users in accomplishing the desired movements, the computed torque method is applied to achieve trajectory tracking for the devices, while a disturbance observer is proposed to compensate for disturbance, so as to improve the tracking performance. In order to provide moderate loads for the users, impedance control is employed to adjust the dynamics of the devices to act as mass-spring-damper systems. Instead of employing the force sensor, the disturbance observer is utilized to estimate the contact force of users so as to overcome the disadvantages of the force sensor, such as narrow bandwidth and high cost. In order to ensure the safety of users, passive velocity control is employed to maintain the passivity of the system. Lastly, an experimental platform is constructed to verify the control scheme proposed in this thesis.

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