摘要Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human-robot interaction,which is an inevitable development trend in robotic.The existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body structures.In this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder joints.The 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators cascade.Based on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness unit.The variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this work.The independence of adjusting the equilibrium position and stiffness of the actuator is validated by experiments.The results show that the measured actua-tor characteristics are sufficiently matched the theoretical values.In the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human-robot interaction.