Electromagnetic type rigidness-variable horizontally-moving joint

The invention provides an electromagnetic type rigidness-variable horizontally-moving joint in the field of robots.The electromagnetic type rigidness-variable horizontally-moving joint comprises a coil mechanism, a permanent magnet arranged in the coil mechanism, and output shafts separately arranged on the two sides of the permanent magnet and provided with reset mechanisms.The permanent magnet is of an annular structure, the outer ring radius of the permanent magnet is slightly smaller than the inner ring radius of an annular coil, the permanent magnet and the coil are coaxially arranged in a coil inner ring, and therefore the permanent magnet can deviate in two ways in the axial direction.During rigidness variation of the joint, it is only needed to control power-on currents of the coil, then interaction force between the coil and the annular permanent magnet is changed, and variation of the output rigidity of the joint is achieved.The joint has the advantages of being simple in mechanical structure, low in mass, compact in size, low in implementation cost, sensitive in rigidness adjustment, small in retardation effect and the like.