This thesis proposes a methodology to modulate the impedance of a mechanical system by using state feedback compensation techniques so that the operator can experience desired dynamics.

• 中文摘要本论文利用机械系统所具有之机械阻抗的概念，提出使用系统状态的回授方式，针对系统之机械阻抗进行调整，使得系统达到预设之系统动态行为；