The invention provides a flexible
exoskeleton joint
actuator capable of being clutched. The flexible
exoskeleton joint
actuator is mounted between thighs and shanks of an
orthotics exoskeleton which is in parallel connection to lower limbs of a
human body, and is a structure for providing passive compliance and unilateral outgoing lines in a joint en-abled state. The flexible exoskeleton joint
actuator comprises a motor base with a motor
stator therein, a motor rotor arranged inside the motor
stator, an output shaft and a speed
reducer which are sequentially connected, and a rotary part whichpenetrates through the motor
stator, the speed
reducer and the output shaft, wherein the output shaft comprises an output disc, an outer ring corner feedback plate, a first magnetic ring, a pluralityof magnetic coding linear sensors, a shank locking connecting disc, a disc spring and a joint
absolute rotation angle feedback rod; the speed
reducer comprises a shank connecting disc, a speed reducerrigid wheel, a speed reducer flexible wheel and a speed reducer wave generator; and the rotary part comprises a rotor connector, a bearing group, a hollow centering shaft and a joint absolute motionfeedback shaft. The flexible exoskeleton joint actuator reduces complexity and weight of the structure, and improves integral safety and reliability.