The present invention discloses an actuated system achieved for adjusting the rigidity of two set of nonlinear elastic elements by the two sets of gearing modules and a linking-up gear therein. The actuated system could actuate the external arm by controlling two sets of gearing modules rotating in the different direction, and the actuated system could adjust the rigidity of the elastic element by controlling two sets of gearing modules rotating in the same direction, so as to decrease the arrangement of the gearing module, minimize the volume of the actuated system and reduce the production cost.本發明係揭露一種驅動系統,係利用二組傳動模組配合連動齒輪及兩組非線性彈性件,以達到可主動調整彈性件之剛性之特性。當控制二組傳動模組向不同方向旋轉時,可驅動外臂進行作動,當控制二組傳動模組向相同方向旋轉時,可調整彈性件之剛性。藉此可減少驅動模組的設置,縮小體積並降低成本。1...驅動系統10...第一傳動模組101...第一傳動軸102...第一傳動套件103...第一驅動套件104...第一調整件105...第一彈性件20...第二傳動模組201...第一傳動軸202...第一傳動套件203...第一驅動套件204...第一調整件205...第一彈性件30...連動模組301...連動件302...架體303...連動軸304...外臂
