变刚度柔顺驱动器及其在能量辅助骨骼服中的应用

能量辅助骨骼服是一种典型的人机交互系统，用于辅助人体进行能量放大，已经成为近十年来国内外研究的热点，但目前在骨骼服的安全性、能量效率和辅助效率等方面研究普遍不足。文章综合归纳了柔顺驱动器和变刚度柔顺驱动器的一些基本概念，分析了几种变刚度柔顺驱动器的特点及应用，并得到结论：变刚度柔顺驱动器具有最大限度的吸收冲击力、安全地与用户交互、内置被动弹性元fl=9,而具有储存和释放能量的能力等特点。因此，在骨骼服系统中，应用变刚度柔顺驱动器已成为骨骼服发展的必然趋势。最后，指出了变刚度柔顺驱动器在骨骼服应用中的研究方向。

Variable Stiffness Compliant Actuator and Its Application in Energy Subsidy Exoskeleton Suit

Energy Subsidy exoskeleton suit is a typical human-machine interaction system for auxilia- ry body energy amplification, and has become a research foucs in domestic and aboard in the nearly decade. But inadequate research in safety, energy efficiency and assisting efficiency is the main prob- lem at present. Some basic concepts of compliant actuator and variable stiffness compliant actuator were sythesized and concluded in this paper, so did the character and application of some kinds of variable stiffness actuator, and the conclusion was draw that variable stiffness actuaor could absorb the wa]]op force in the max limit, had safety interaction with the user, and could deposite and re- lease the power because of its internal elastic element, so applying the variable stiffness compliant actuator to power assist exoskeleton suit had become a necessarily tendency. The research direction of the application was pointed out in the end.