面向软体机器人的新型变刚度技术研究进展

 软体机器人具有多样的运动自由度和良好的环境适应性，而低刚度限制了其实际操作的承载能力。因此，发展面向软体机器人的变刚度技术是当前研究的前沿热点问题。综述了近5年新型变刚度技术进展，分析了其工作原理（静电吸附原理、层干扰原理、自锁折纸机理、电/磁流变原理和最小势能原理）、变刚度性能及实际应用。讨论了当前变刚度技术的挑战和未来的发展方向，并探讨了新一代变刚度技术的潜在研究价值。

Research progress on novel variable stiffness technologies for soft robot

Soft robot is a new kind of robot with various freedom of movement and good environmental adaptability. However, low stiffness of the soft robot limits its practical carrying capacity. Therefore, it is meaningful to develop variable stiffness technology for soft robot. This paper summarizes the new variable stiffness technology in recent 5 years, introduces and analyzes its working principles including electrostatic adsorption principle, layer interference principle, self-locking origami mechanism, electrical/magnetorheological principle and minimum potential energy principle, variable stiffness performance and practical application. This paper also discusses the challenges for the current variable stiffness technology and the future development direction, and summarizes the potential research value of the new generation of variable stiffness technology.