A new variable stiffness actuator and its control method

摘要

Purpose To achieve variable stiffness, this paper aims to design a flexible actuator with variable stiffness by using the magnetorheological effect of magnetorheological fluid. The variable stiffness actuator can well meet the safety requirements of human-robot interaction and be more adaptable to unknown or complex environments. The variable stiffness actuator designed in this study can realize the continuous and controllable change of stiffness compared with the existing actuator.