本研究透過解剖學實際了解人類手臂構造，以真實人類手臂的尺寸及自由度為出發點，作為機械手臂的設計基礎，因此可應用於人型機器人之手臂，改善以往人型機器人手臂尺寸過大、重量過重等缺點，並且開發動作訓練之人機介面與本實驗室之人型機械手掌整合，使本研究之機械手臂可完整的表現出類人類的動作，有效強化機器人與人類互動關係。

This research uses penetration anatomy to understand the human arm structure. The robot arm is based on the human arm size and the degree of freedom. We improved the robot arm size and its weight because the size was too big and the weight was too heavy. We developed the new training program and combined the robot hand become the complete robot arm. In our application, the complete robot arm can do the human arm task. Finally it can completely interact with the human.

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