Limb rehabilitation device and variable-stiffness magnetic elastic driver

The invention provides a limb rehabilitation device and a variable-rigidity magnetic elastic driver. The limb rehabilitation device comprises a limb contact end, a damping shaft and a magnetic elastic unit, the damping shaft is provided with a first axis, and the limb contact end is rotatably arranged around a second axis; the rotation of the limb contact end around the second axis and the axial movement of the damping shaft along the first axis are mutually converted; the damping shaft movably penetrates through the magnetic elastic unit along the first axis, and the magnetic elastic unit is configured to adjust the axial resistance of the damping shaft along the first axis through magnetic force. According to the configuration, through the arrangement of the magnetic elastic unit, the axial resistance of the damping shaft along the first axis can be adjusted through magnetic force, variable rigidity flexible control is achieved, installation is convenient, and meanwhile the structure is more compact. 本发明提供一