中文摘要：

为了减少致动元件的能量消耗，模拟自然肌肉高效驱动的拮抗作用机制，设计了以力学拮抗作用的能量转化而实现运动能量输出的新型致动元件．以高能量密度的磁体和具有良好伸缩性能的聚合物构建致动元件，分析了致动元件的磁场力与弹性力的拮抗特性及其运动触发机制，同时，实验分析了以电磁线圈为拮抗作用触发元件的力学特性．结果表明，电磁线圈能够有效触发具有磁场能和弹性势能元件的拮抗作用，以力学拮抗形式的能量转换方式可构建高效致动元件．

英文摘要：

Emulating the antagonism of the muscles, a new actuator with the characteristic of conversion between the antagonistic energy was designed. Permanent magnets with high energy density and polymers with fine motion performance were respectively used as the agonistic and antagonistic components of the actuator. Antagonism of the magnetic and elastic energy was analyzed theoretically. Electromagnetic coils were designed as trigger of the antagonism of the magnetic and elastic energy, and its effectiveness was confirmed by experiments. It was concluded that the actuator with characteristic of the conversion between the antagonistic energy can work effectively.