本論文利用機械系統所具有之機械阻抗的概念，提出使用系統狀態的回授方式，針對系統之機械阻抗進行調整，使得系統達到預設之系統動態行為；並且藉此探討當使用者施力於機械系統時，在不使用力量感測器的情形之下，利用調整原本系統之機械阻抗所具有的質量、阻力以及剛性三種特性效果之後，可以讓機械系統提供出具有重力、阻力或者助力的感覺回饋給使用者。最後，實際應用於一個直流伺服馬達移動平台機構，讓使用者親身體驗。

This thesis proposes a methodology to modulate the impedance of a mechanical system by using state feedback compensation techniques so that the operator can experience desired dynamics. The closed loop system can be used to give power assistance activities without requiring the force sensors. Virtual gravitational effects can also be achieved by proper selections of the controller structure. A linear motion table is built to demonstrate the feasibility of the proposed strategies.

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