VARIABLE STIFFNESS ELASTIC BODY AND ACTUATOR MODULE INCLUDING THE SAME

摘要

An embodiment of the present invention provides an elastic body that connects an input and an output used in a series elastic actuator module, and provides a variable rigid elastic body whose rigidity is changed according to an applied torque. The variable stiffness elastic body includes: a connection portion receiving torque from an input side or an output side; And as a spring part connected to one selected differently from the connection part among the input side and the output side to receive a torque, it is formed integrally with the connection part, and the stiffness is increased as the connection part and the spring part contact due to deformation by the applied torque. It includes; a spring that is changed.