Controllable rigidity-variable flexible driver

The invention discloses a controllable rigidity-variable flexible driver which comprises a power input mechanism, a rigidity adjusting mechanism and a power output mechanism. The rigidity adjusting mechanism comprises two motors with closed loop controllers, two lead screws connected with the motors, two nut sliding blocks and two elastic reeds. An output shaft of each motor is connected with one lead screw. The lead screws are in screwed connection with the nut ends of the nut sliding blocks, the sliding block ends of the nut sliding blocks are inserted into the elastic reeds and are in sliding fit with the elastic reeds, one ends of the elastic reeds are fixedly connected to the power output mechanism and are fixedly connected with the power output mechanism into a whole, and an outer shell of the rigidity adjusting mechanism and a drive disc of the power input mechanism are fixedly arranged. The controllable rigidity-variable flexible driver has good impact resisting capacity and flexible dynamic properties, and a good basis is built for the movement of a robot applied to complex road conditions.