本論文提出諧波減速機致動器機器手臂之力矩估測和控制技術，使用諧波減速機柔性模型估測力矩，最後應用估測力矩於關節力矩回授控制。透過扭轉角與力矩之關係估測力矩，經由光學尺量測位置訊號同時進行位置和力矩的估測。此力矩估測方法及關節力矩感測器與關節力矩回授控制經過數值模擬及實驗驗證並可以應用於機器手臂，如順應外部力矩、抵抗外部力矩及增加控制精度。

This paper proposes a torque estimation and control technique for the harmonic drive actuator robotic arm. Torque is estimated from the compliant model of the harmonic drive and applied to the joint torque feedback control. The torque estimation is performed through the relationship between the torsion angle and the torque while measuring the angular position signal by the optical encoder. The torque estimation method is numerically verified and experimentally validated. The proposed method, along with a prototype of the torque sensing system, has been experimentally implemented on the robotic arm for compliance or resistance of the torque and to increase the accuracy.