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事人員的負擔。以復健而言，傳統常由醫生主觀判定的運動機能復健，也可以被自動化設備來取代。本文以工業型機械手臂搭配廠商提供的部分開放功能，探討即時修正的運動控制，並將此架構應用到做為復健的輔具。當病患在復健的過程中推動機械手臂，進行伸展與屈伸等往復動作時，機械手臂根據感測器所量測的力量資訊、搭配復健訓練模式的規劃，執行相對的順應移動與速度，達到復健師所規劃之治療。
本研究所規劃的復健機器人其架構是一套提供適應性輔助功能的訓練系統，可以根據目前患者的使用狀況，切換至不同狀態需要之模式。根據機器人介入的程度，分成三種不同的訓練模式，以配合三種不同狀態之病患使用。本文提供了三種模式的控制策略設計，以及模式間的切換進行操作。
最後將設計順應性運動控制系統進行實驗，藉由控制器作業的實驗結果與參考文獻進行功能比對，並透過多位操作者的實驗測試，來驗證本文建立之復健式機械人的可行性。實驗結果顯示，在實驗中所測出之差異性，經過與文獻的功能比對，和對量測的數據進行評估，都符合當初開發此復健機器人的功能，在於訓練模式和控制器的配搭，並使用切換的機制，使該系統在於順應性和安全性方面考量上都是能正常運作。

In the case of insufficient medical system personnel, the use of automation equipment is gradually used to reduce the burden on medical personnel. In terms of rehabilitation, usually diagnosed by a doctor and given rehabilitation training, that can be replaced by automated equipment. This thesis will establish some of the open functions provided by the manufacturer, the industrial robot arm with this function, the motion control for immediate correction, and apply this structure to the auxiliary device for rehabilitation. The patient pushes the robot arm during the rehabilitation process. Reciprocating movements such as stretching and flexion and extension, the robot arm performs relative compliance movement and speed according to the strength information measured by the sensor and the planning of the rehabilitation training mode, and achieves the treatment planned by the rehabilitation teacher.
This system uses a set of aid-based training systems that can be switched to different state-required modes based on current patient use, and are divided into three different training modes depending on the level of robotic intervention to accommodate patients in three different states. This paper provides three modes of control strategy design, as well as switching between modes to operate.
Finally, the design of the compliant motion control system will be carried out. The experimental results of the controller operation will be compared with the reference literature, and the experimental results of multiple operators will be used to verify the feasibility of the rehabilitation robot established in this paper.

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