本論文已開發完成一個不同設計的外骨架機器人，不但有獨特的關節 機構設計，以軸承取代轉軸，且採用可大幅減輕整體重量的人工肌肉氣壓 缸作為致動器。同時，建立外骨架機器人各組成元件的數學模型。推導出 外骨架機器人的順向運動學、反向運動學及應用準座標系統推導反向動力 學，並進行復健動作的模擬運算，可得到外骨架機器人的運動軌跡、關節 角度變化與轉動關節所需的力矩大小。
未來發展方向:
機械結構尺寸需量身打造，或者需再設計可動結構，以符合不同的穿 戴者。
機械手臂機器人可運動至任何所能達到的位置，但是在某些位置時，
有無法轉向其他方向的情形，這必須在規劃軌跡時加以考量。
實際穿載測試
外骨架機器人未來儼然會成為人類所需依賴的工具之一，其實際的應 用，不僅僅用於人體肢臂的復健，未來年齡的增延，老年化的族群驟增，
但老年人肌肉卻日益衰弱，外骨架機器人亦可作為動力輔助的裝置，幫助 完成日常所需的動作。但這些理想化的構想，尚須研究者的不懈努力，期 許未來真能有實踐的一日。
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