Provided is a sensing type force feedback device, which includes a fixing base, a driving unit, a first limb supporting unit, and a second limb supporting unit. The driving unit has a motor disposed at the fixing base and an output shaft connected to the motor. The output shaft is inserted into a joint base for connection with a resilience unit. The first limb supporting unit has a first supporting element disposed at the fixing base and a first electromyography signal sensor disposed at the first supporting element. The second limb supporting unit has a second supporting element disposed at the joint base and a second electromyography signal sensor disposed at the second supporting element, thereby enabling the motor to output an appropriate auxiliary power according to the sensing result of the first and second electromyography signal sensors, such that the first and second supporting elements can move relative to each other precisely so as to increase the rehabilitation effect for the users.一種感應式力量回饋機構,包含有一固定座、一驅動單元、一第一肢體承靠單元,以及一第二肢體承靠單元,驅動單元具有一設於固定座之馬達與一連接馬達之輸出軸,輸出軸會伸入一關節座內與一彈性單元作連接,第一肢體承靠單元具有一設於固定座之第一承靠件與一設於第一承靠件之第一肌電訊號感應器,第二肢體承靠單元具有一設於關節座之第二承靠件與一設於第二承靠件之第二肌電訊號感應器,藉此,馬達可以透過第一、第二肌電訊號感應器的感應結果而輸出適當的輔助動力,使第一、第二承靠件能夠確實地進行相對運動,以提升使用者的復健效果。21‧‧‧第一固定板22‧‧‧第二固定板23‧‧‧X軸調整槽24‧‧‧矩形孔25‧‧‧桿件31‧‧‧馬達312‧‧‧驅動軸32‧‧‧減速機33‧‧‧第一傳動輪34‧‧‧轉軸35‧‧‧第二傳動輪36‧‧‧傳動帶37‧‧‧輸出軸40‧‧‧關節座41‧‧‧套環部42‧‧‧支撐臂50‧‧‧彈性單元63‧‧‧第一橫板64‧‧‧第一橫板固定件65‧‧‧第一立板67‧‧‧第一夾環73‧‧‧延伸臂74‧‧‧握柄75‧‧‧L形立板79‧‧‧第二夾環80‧‧‧旋轉阻尼器82‧‧‧連接軸84‧‧‧第一肌電訊號感應器90‧‧‧旋轉編碼器92‧‧‧旋轉電位計
