在醫療體系人員不足的情況下，逐漸開始使用自動化設備的輔助來降低醫療人員的負擔，因此本文將利用工業型機械手臂作為輔具，進行對病人的人機協同式搬運作業，考慮到安全性，本研究並沒有對真人進行搬運實驗，而是使用1:2縮小版進行實驗模擬。
在本文中，使用三種不同的感測器對操作者以及病人的姿態進行量測，並開發出一套演算法，在操作者的搬運行為稍有變化之下，使機械手臂能夠判斷人的意圖，適應並且調整其運動行為，使被搬運者(病人)的姿態都保持在小角度誤差範圍內，達到具有安全性且即時互動性高的人機協同搬運作業。
實驗結果顯示，此控制方法可以讓病人的姿態保持在10度內，利用微小且穩定的角度誤差使搬運速度改變至少20%。

In the case of insufficient personnel in the medical system, the assistance of automated equipment is gradually used to reduce the burden of medical personnel. Therefore, this paper will use an industrial robotic arm as an auxiliary device to carry out human-machine coordinated handling of patients, taking into account safety. , this study did not carry out handling experiments on real people, but used a 1:2 scaled down version for experimental simulation.
In this paper, three different sensors are used to measure the posture of the operator and the patient, and an algorithm is developed to enable the robot arm to judge the intention of the human under the slight change of the operator's handling behavior. , adapt and adjust its movement behavior, so that the posture of the person being transported (patient) is kept within a small angular error range, so as to achieve the human-machine cooperative transportation operation with safety and high instant interaction.
The experimental results show that this control method can keep the patient's posture within 10 degrees, and use a small and stable angle error to change the transport speed by at least 20%.

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