傳統上，中風病患或因意外受傷而導致肢體受創無法行動自理者，須經由物理復健師予以一對一治療，就人力資源分配來說，實乃供不及求。有鑑於此，本論文開發一種針對手臂復健的外骨架機器人以取代人力之不足。所開發的外骨架機器人具有4個自由度，包含肩膀處3個自由度以及手肘處的1個自由度。本文說明建構外骨架機器人的零組件、機械結構的設計和外骨架機器人的操作流程，並建立各零組件的數學模型以及為了能規劃、控制外骨架機器人的運動，根據機器人學推導順向運動學、反向運動學以及反向動力學。而為了簡化反向動力學運算的複雜度，本論文是以準座標建立的Lagrangian方程式來作推導，並使用Robotics Toolbox分析外骨架機器人的順向運動學、反向運動學，以及撰寫Matlab程式模擬外骨架機器人的反向動力學。

Generally, people who can not perform activities due to the stroke or accidents must be cured by a physical therapist, and it should be operated one by one. However, the manpower sources do not meet so many requests. Therefore, this paper presents an exoskeleton robot for arm rehabilitation to solve for this situation. There are total 4 DOFs on our exoskeleton robot. It is 3 DOFs and 1 DOF on shoulder and elbow, respectively. In this thesis, building components, design and operation of the exoskeleton robot structure are presented. Moreover, mathematical models of devices, forward kinematics, inverse kinematics and inverse dynamics are developed to control the exoskeleton robot. Also, due to a large amount of symbolic computation, the Lagrangian formulation based on the quasi-coordinates is used to derive the inverse dynamics. Simulation of the forward kinematics and inverse kinematics are conducted by the Robotics Toolbox, and the Matlab program is developed for the inverse dynamics.

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