Fuente: WIPO "circular economy" The present invention relates to a muscle exercise device. The muscle exercise device according to an embodiment of the present invention may include an impedance controller and an admittance controller. In an embodiment, the impedance controller may output a first force control value based on the impedance control model, and the admittance controller may output a position control value for generating a second force control value. Through this, the admittance controller may output the position control value based on the user action force without using a force sensor or the like. COPYRIGHT MOIP 2026