【摘要】 随着我国国防、医疗等重要领域智能装备发展规划的深入推进，机器人高精度、高灵活性、复杂运动能力及高人机共融能力成为现实急需，其关节的主、被动柔顺自适应能力成为研究的核心技术之一。针对这一问题，以关节的柔性实现形式为主线，从利用弹性体实现柔性、黏弹性体实现柔性、磁性材料实现柔性、驱动技术实现柔性及混合技术实现柔性等5个方面，系统梳理了国内外有关机器人柔性关节变刚度技术的研究现状，就当前各类型的柔性关节致柔技术原理、典型设计结构及其特点进行了综述，为机器人柔性关节技术的进一步创新提供参考和借鉴。更多还原

【Abstract】 With the deepening of the development plan of intelligent equipment in important fields such as national defense and medical care in China, the high precision, high flexibility, complex motion ability, and high human-machine integration ability of robots have become urgent needs in reality. The active and passive flexible adaptive ability of their joints has become the core technology of research. In response to this issue, taking the flexible implementation form of joints as the main line, systematically reviewed the research status of flexible joint variable stiffness technology for robots at home and abroad are from five aspects: using elastomers to achieve flexibility, viscoelastic materials to achieve flexibility, magnetic materials to achieve flexibility, driving technology to achieve flexibility, and hybrid technology to achieve flexibility.The principles, typical design structures, and characteristics of various types of flexible joint flexibility technology are summarized, providing reference and inspiration for further innovation of robot flexible joint technology.更多还原