隨著遠端操控、人機協作與虛擬實境技術的發展，操作者可透過機械手臂或虛擬系統執行危險場域與精密操作任務。然而，現有遠端操作多依賴視覺回饋，操作者難以直接感知接觸力、抓握阻抗與物體硬度，容易造成施力不當或操作穩定性不足。因此，本研究旨在開發一套應用於遠端操控環境之手掌指外骨骼機構，透過連桿機構與串聯彈性致動器設計，使外骨骼能夠配合人體手指彎曲運動，並具備力量回饋量測之能力。首先針對人體食指之運動特性進行分析，利用影像追蹤方式擷取人體掌指關節（Metacarpophalangeal Joint， MCP）、近端指間關節（Proximal Interphalangeal Joint， PIP）與遠端指間關節（Distal Interphalangeal Joint， DIP）之運動軌跡，作為外骨骼連桿機構設計與運動學分析之依據。接著使用電腦輔助設計軟體建立外骨骼模型，並透過運動模擬觀察滑塊推動連桿後所產生之手指彎曲行為，以驗證機構動作之可行性。在結構安全性方面，本研究以 3D 列印材料作為主要製作方式，並利用有限元素分析評估外骨骼於受力狀態下之等效應力、剪應力與應變分布，測試結構在操作過程中具備足夠安全性。此外，本研究導入串聯彈性致動器概念，透過彈簧變形量推估外骨骼與使用者之間的作用力，並以彈簧量測實驗驗證其線性特性與力量估測可行性。研究結果顯示，所設計之外骨骼機構可完成手指彎曲動作，並能藉由彈性元件變形建立力量回饋量測基礎。未來可進一步整合慣性感測器、馬達控制與虛擬環境系統，完成具即時力量回饋之完整手掌外骨骼系統，應用於遠端操作、虛擬實境互動與工業危險場域之人機協作。;This study aims to develop a hand and finger exoskeleton mechanism for cyber-physical interaction environments. By integrating a linkage mechanism with a series elastic actuator， the proposed exoskeleton is designed to follow the natural flexion motion of the human finger while providing the capability of force feedback estimation. First， the motion characteristics of the human index finger were analyzed. An image-based tracking method was used to obtain the motion trajectories of the MCP， PIP， and DIP joints， which served as the design basis for the linkage mechanism and kinematic analysis. A computer-aided design model of the exoskeleton was then established， and motion simulation was conducted to observe the finger flexion behavior generated by the slider-driven linkage mechanism， verifying the feasibility of the mechanical design. In terms of structural safety， the exoskeleton was designed for fabrication using 3D-printed materials， and finite element analysis was performed to evaluate the equivalent stress， shear stress， and strain distribution under loading conditions. The simulation results confirmed that the structure has sufficient safety during operation. In addition， the concept of a series elastic actuator was introduced to estimate the interaction force between the exoskeleton and the user through spring deformation. A spring measurement experiment was conducted to verify the linear characteristics of the elastic element and the feasibility of force estimation. The results show that the proposed exoskeleton mechanism can achieve finger flexion motion and establish a fundamental force feedback measurement method based on elastic deformation. In the future， the system can be further integrated with inertial sensors， motor control， and virtual environment modules to develop a complete hand exoskeleton system with real-time force feedback for teleoperation， virtual reality interaction， and human–robot collaboration in hazardous industrial environments.
