Magnetic joint variable stiffness actuator

The invention belongs to the technical field of robot joints, and particularly relates to a magnetic joint variable stiffness actuator. The magnetic joint variable stiffness actuator comprises a shell, and a rotating shaft, a rotor part, a stator part and a rotation stiffness adjusting part which are arranged in the shell, wherein the stator part comprises an electromagnet circular ring, and the electromagnet circular ring is arranged on the rotating shaft in a sleeving mode and fixedly connected with the shell; the rotor part comprises a permanent magnet circular ring, and the permanent magnet circular ring sleeves the rotating shaft and is fixedly connected with the rotating shaft; the electromagnet circular ring and the permanent magnet circular ring generate torque for hindering rotation between the rotor part and the stator part through magnetic repulsion; the rotation stiffness adjusting part and the permanent magnet circular ring are connected with an external power supply to form a closed loop; and th