The output force model of elongation type pneumatic compliance actuator has been improved and the mathematical model of static stiffness and dynamic stiffness has been developed for the variable stiffness control. The dynamic stiffness is the sum of static stiffness and pressure stiffness. The result based on the experiment and simulation has shown that the air supply pressure is a major factor affecting the static stiffness and dynamic stiffness of elongation type pneumatic compliance actuator. The static stiffness and dynamic stiffness increase with the increasing of supply pressure linearly.%为实现充气伸长型气动柔性驱动器的变刚度控制，对其输出力模型进行改进，建立气动柔性驱动器的静态刚度和动态刚度数学模型，指出气动柔性驱动器的动态刚度为静态刚度与气压刚度之和。试验和仿真研究结果表明：供气压力是影响充气伸长型气动柔性驱动器静态刚度和动态刚度的主要因素，静态刚度和动态刚度均随供气压力的增大而增大，且呈现较好的线性关系。
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