本論文設計了一個以全向式移動平台為移動基礎的行動輔助機器人，利用移動平台 上馬達的電流與轉速去推算行動輔助機器人所受的外力大小及方向，當使用者施予行動 輔助機器人一外力時，機器人能夠順應著此外力方向移動並以外力大小改變移動速度，
以達成行動輔助的功能。
在行動輔助機器人的移動平台上考量到未來可增加自主式智慧行為與看護等功 能，因此採用主動式的行動輔助機器人，並利用四個全向輪所構成的全向式移動平台，
提高行動輔助機器人的機動性。為了提高行動輔助機器人在使用中的安全性，我們將行 動輔助機器人仿效成一被動式行動輔助機器人，亦即將主動式行動輔助機器人仿效成一 質量-阻尼模型，並透過所設計的期望質量與期望阻尼係數的調整來適應使用者在操作 上的需求，因此行動輔助機器人可以順應著使用者的推力大小及方向來移動。
在為了得知力的資訊，我們捨棄較昂貴且裝設較為複雜的力覺感測器，而採用低成 本且裝設簡單，只需量測馬達電流及轉速，並設計一外力估測器即可估測行動輔助機器 人的受力大小及方向。在模擬及最後實驗中可以呈現出，行動輔助機器人能夠估測出外 在受力並根據此受力大小及方向移動，完成行動輔助機器人的順應性控制。
本論文以行動輔助機器人設計為起頭，其研究以如何提供使用者行動輔助的功能為 主，但在行動輔助上還有許多問題上還需解決，例如行動輔助機器人供使用者做支撐 時、在斜坡上行走以及環境中障礙物的閃躲等問題，這些在未來可加裝額外的感測器來 感測環境資訊並解決上述之問題，而增加額外感測器可增加多種智慧型行為，以提供居 家照護，並提供更多的人機互動等功能，讓行動輔助機器人不僅僅可以提供使用者在移 動上的協助，在生活、娛樂及醫療上都能給予協助。
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