本研究利用磁場平衡開發出一半主動式旋轉阻尼器，採用永久磁石提供固定 磁場，電磁線圈提供反相磁場吸引永久磁石之磁力線，減少永久磁石之磁力線通 過磁黏滯液體工作區，以降低阻尼器可提供之扭力矩。提供電流產生之磁場與阻 尼器輸出之力矩成線性關係，且本研究提出模組化系統，可以使用不同阻力環組 數、阻力間隙來調整、改變阻尼器輸出之扭力矩，以因應在不同的使用範圍之中。
本論文之研究貢獻如下：
1) 整合永久磁石與電磁線圈，達到控制阻尼力。
2) 開發出逆功能之半主動阻尼器，使其在無外加能源時，有較高的扭力矩 輸出效用。
3) 開發出使用範圍為線性調整之半主動式阻尼器。
4) 完整設計開發流程，包含設計概念、理論分析、實驗測試和有限元素分 析。
要完成可以應用於人體雙足之輔具上，必需有量測、控制系統和能量供給之 搭配，為了追求應用上之美觀，周邊裝置也須精簡研發，
未來研究方向：
1) 藉由縮小液體間隙或是增加永久磁石磁場來微小化及輕量化。
2) 開發完整的量測和控制系統，應用於足部輔具。
3) 建立完整模組化規格表。
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附錄A 磁黏滯液體之性能表
附錄B 永久磁石之性能表
附錄C TRD600 扭力計規格表