Flexible variable stiffness actuator is divided into four categories including elastic
element, pneumatic
element, electric-
magnetic element and
intelligent material. It is gradually applied in
rehabilitation robot. It could adapt the change of
patient's
impedance in the upper and
lower limb rehabilitation robots, ensure the
safety of the wearer in the exoskeleton, and improve the
biomimetics in the
prosthesis. Variable stiffness driving mechanism for
rehabilitation robot still has some disadvantages. It is proposed to have compact structure, low
power consumption, good stiffness characteristics, high response rate and progressive output
torque curve, etc.