Intelligent power lower limb prosthesis test system and test method

Abstract

The application discloses a kind of intelligent power lower extremity prosthesis test system and test method, the system includes power intelligent prosthesis and the motion capture system for offline collection power intelligent prosthesis multiple joint position position, position information and attitude data as reference data, power intelligent prosthesis includes leg support, for providing the foot support of test personnel foot bottom plate bionics component, for leg fixation fixed assembly and joint drive assembly, foot palm bionics component, power intelligent prosthesis also includes multiple inertial measurement units and for collecting foot bottom force foot bottom force sensor, each inertial measurement unit is respectively set at specified joint, for online acquisition test personnel in the process of walking in wearing power intelligent prosthesis Motion data to obtain the phase of each joint, foot bottom force sensor is set in the bottom component of foot palm bionics component.The application has the advantages of natural motion, strong environmental adaptability, safety stability and high test precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent powered lower limb prosthesis, and particularly relates to an intelligent powered lower limb prosthesis testing system and a testing method. BACKGROUND

[0002] The intelligent powered lower limb prosthesis is an important auxiliary device for assisting amputee patients in daily life and normal work. At present, most of the joints of lower limb prostheses are passive prostheses without power. When a disabled person wears such a prosthesis to walk, more energy will be consumed, and the affected side and the healthy side show obvious asymmetry. In the face of more complex walking environments, such as stairs or uneven ground, the motion stability of the user will be affected.

[0003] In the intelligent powered lower limb prosthesis, data acquisition and system debugging are key factors for the prosthesis to realize intelligent control, and the most effective method to realize data acquisition is to wear it by the amputee patient, but this is difficult to do in the initial stage of prosthesis development. In the prior art, the prosthesis data acquisition is mainly through four-corner displacement sensors to collect the joint angle and angular velocity of a normal person walking, and then directly applied to the intelligent powered prosthesis. However, the above-mentioned method will have the problem of being unable to accurately judge the authenticity of the data, and there is also a deficiency in data accuracy. At the same time, the prosthesis system debugging process in the prior art is usually performed by a normal person bending the knee to wear a protective device and bind it on the prosthesis for testing. Since the posture of wearing is bent, the leg cannot be stretched for a long time, and the tester has poor comfort experience. Therefore, it is a current urgent problem to provide a testing system for intelligent powered lower limb prosthesis that can improve data accuracy and debugging comfort.

[0004] For example, Chinese Patent Application CN111568612A discloses a knee joint prosthesis testing system and testing method, which matches the real human lower limb motion curve by simulating the motion of the residual limb of an amputee patient, and provides an accurate testing environment for the intelligent knee joint assembled on the interface. In addition, Chinese Patent Application discloses a lower limb prosthesis gait test system, which collects the joint angle of the simulated leg through a four-corner displacement sensor, takes the gait in the complete gait cycle of a normal person walking as a control signal, controls the power source through a motion control card, and drives the motion of the simulated leg through the output of the power source and a transmission device, so as to realize the simulation of the walking gait of a normal human body. The above-mentioned schemes will have the problem of being unable to accurately judge the authenticity of the data, and the data accuracy is not high. Therefore, it is urgent to provide a testing system for intelligent powered lower limb prosthesis to improve the data accuracy of the test, and to improve the comfort experience and safety reliability of the test. SUMMARY

[0005] The technical problems to be solved by the present application are: in view of the technical problems existing in the prior art, the present application provides an intelligent dynamic lower limb prosthesis test system and a test method, which have the advantages of simple and compact structure, high test precision, natural movement, strong environmental adaptability, good test comfort experience, and stable safety.

[0006] To solve the above technical problems, the technical solution provided by the present application is:

[0007] An intelligent dynamic lower limb prosthesis test system, characterized in that: it comprises a dynamic intelligent prosthesis and a motion capture system for offline collecting motion trajectories, position information and attitude data of a plurality of joint positions of the dynamic intelligent prosthesis as reference data, the dynamic intelligent prosthesis comprises a leg support for supporting the leg of a test person, a foot plate bionic component for providing foot support for the test person, a joint fixing assembly and a joint driving assembly for fixing the leg joint position, and a palm bionic component, the dynamic intelligent prosthesis further comprises a plurality of inertial measurement units and a foot force sensor for collecting foot force, each of the inertial measurement units is arranged at a designated joint position for online collecting motion data of the dynamic intelligent prosthesis during walking to obtain the phase of each joint, and the foot force sensor is arranged at the bottom of the palm bionic component.

[0008] Further, the motion capture system comprises a plurality of signal receiving devices and a plurality of groups of cameras, each of the signal receiving devices is arranged at a designated joint position of the dynamic intelligent prosthesis, and each group of the cameras is used for offline collecting image data of different angles of the dynamic intelligent prosthesis.

[0009] Further, the signal receiving devices are arranged at the corresponding positions of the thighs, calves and soles of the dynamic intelligent prosthesis, respectively, to collect the motion trajectories, position information and attitude data of the thigh, calf and sole positions, respectively.

[0010] Further, the inertial measurement units are arranged at the corresponding positions of the thighs, calves and soles of the dynamic intelligent prosthesis, respectively, to collect three-dimensional angular velocity and acceleration data at the thigh, calf and sole positions during walking, respectively, to obtain the phase of each joint.

[0011] Further, the joint fixing assembly comprises a thigh strap, a thigh fixing flange, a calf strap and a foot strap for fixing the thigh, calf and foot of the test person, respectively.

[0012] Further, the joint driving assembly comprises a knee joint driving motor, an ankle joint driving motor, an ankle joint motor flange and an ankle joint output shaft. The knee joint driving motor is installed on the thigh fixing flange to drive the lower leg frame to rotate. The ankle joint driving motor is installed on the ankle joint motor flange to drive the ankle joint output shaft to rotate. The ankle joint output shaft is fixedly connected with the instep bionic component.

[0013] A testing method using the intelligent power lower limb prosthesis testing system, comprising the following steps:

[0014] S1. A tester wears the power intelligent prosthesis and sets the power intelligent prosthesis to passive mode. The motion capture system is controlled to collect motion trajectory, position information and attitude data of the power intelligent prosthesis during walking in passive mode offline.

[0015] S2. The inertial measurement unit is used to collect motion data of the power intelligent prosthesis during walking online to obtain the phase of each joint.

[0016] S3. The foot force sensor is used to collect foot force of the power intelligent prosthesis during walking online and measure the pressure change state of the foot during standing or walking.

[0017] S4. The data collected in step S1 is used as reference data. According to the phase of each joint obtained in step S2 and the pressure change state of the foot measured in step S3, the motion state of each joint of the power intelligent prosthesis is controlled.

[0018] Further, when the tester wears the power intelligent prosthesis, the tester steps on the instep bionic component and is fixed by the foot strap. The lower leg and the thigh of the tester are fixed by the lower leg strap and the thigh strap respectively. The knee joint driving motor installed on the thigh fixing flange drives the lower leg frame to rotate. The ankle joint driving motor installed on the ankle joint motor flange drives the ankle joint output shaft to rotate and drives the instep bionic component.

[0019] Further, the motion data collected in step S2 in real time comprises three-dimensional angular velocity and acceleration data of the thigh, the lower leg and the instep.

[0020] Further, step S4 comprises: using the data collected in step S1 as reference data, analyzing the walking state of the power intelligent prosthesis according to the measured pressure change state of the foot, generating gait trajectory and calculating the required control amount of each joint according to the walking state and the phase of each joint collected in real time, and driving the motion of each joint of the power intelligent prosthesis according to the calculated control amount.

[0021] Compared with the prior art, the application has the advantages that:

[0022] 1、The application sets up the action capture system to collect the three-dimensional motion trajectory, position, posture and other data of each position of the passive mode power intelligent prosthesis as reference data, and by virtue of the high data collection accuracy and small error of the action capture system, the system error can be more accurately evaluated, and the joint phase and the sole pressure of the power intelligent prosthesis are collected online by the inertial measurement unit and the sole force sensor, the motion state of each joint driving component is dynamically controlled, the control precision of the walking process of the power intelligent prosthesis can be effectively improved, the complex control process in the test process is not needed, and the test efficiency and safety reliability can be improved.

[0023] 2、The intelligent power lower limb of the application is composed of a leg support, a sole plate bionic component, a joint fixing assembly, a joint driving assembly and a palm bionic component, and the prosthesis can enable the test personnel to walk upright, and compared with the traditional prosthesis test mechanism which needs to bend the lower leg and bind it to the prosthesis in the test process, the comfort of the test can be effectively improved, so that the whole test process is more comfortable and real. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is the arrangement principle schematic diagram of the intelligent power lower limb prosthesis test system of the embodiment.

[0025] Figure 2 is the front view of the power intelligent prosthesis in the embodiment.

[0026] Figure 3 is the side view of the power intelligent prosthesis in the embodiment.

[0027] Figure 4 is the control flow schematic diagram of the intelligent power lower limb prosthesis test system in the embodiment.

[0028] LEGEND: 1, power intelligent prosthesis; 111, thigh support; 112, lower leg support; 102, sole plate bionic component; 131, thigh binding belt; 132, thigh fixing flange; 1331, first lower leg binding belt; 1332, second lower leg binding belt; 1341, first sole binding belt; 1342, second sole binding belt; 141, knee joint driving motor; 142, ankle joint driving motor; 143, ankle joint motor flange; 144, ankle joint output shaft; 105, palm bionic component; 106, sole force sensor; 2, action capture system; 211, first signal receiving device; 212, second signal receiving device; 213, third signal receiving device; 202, camera. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the accompanying drawings and specific preferred embodiments, but this does not limit the scope of protection of the present invention.

[0030] like Figures 1-3 As shown, the intelligent powered lower limb prosthesis testing system of this embodiment includes a powered intelligent prosthesis 1 and a motion capture system 2 for offline acquisition of motion trajectory, position information and posture data of multiple joint points of the powered intelligent prosthesis 1 as reference data. The powered intelligent prosthesis 1 includes a leg support for supporting the tester's legs, a foot plate bionic component 102 for providing foot support for the tester, a joint fixation component and a joint drive component for fixing the position of the leg joints, and a foot bionic component 105. The powered intelligent prosthesis 1 also includes multiple inertial measurement units and a foot force sensor 106 for acquiring foot force. Each inertial measurement unit is set at a designated joint point to acquire motion data of the powered intelligent prosthesis 1 during walking to obtain the phase of each joint. The foot force sensor 106 is set at the bottom of the foot bionic component 105.

[0031] This embodiment uses a motion capture system 2 to collect three-dimensional motion trajectories, positions, and postures of the powered intelligent prosthesis 1 at various locations in passive mode as reference data. Leveraging the high data acquisition accuracy and low error of the motion capture system 2, system errors can be more accurately assessed. Simultaneously, by combining an inertial measurement unit and a foot force sensor 106 to collect joint phases and plantar pressure of the powered intelligent prosthesis 1 online, the movement state of each joint drive component 103 is dynamically controlled, effectively improving the control accuracy of the powered intelligent prosthesis 1 during walking. Furthermore, the testing process eliminates the need for complex control procedures, improving testing efficiency and safety. In this embodiment, the powered intelligent prosthesis 1 enables the wearer to walk upright. Compared to traditional prosthesis testing mechanisms that require bending the lower leg and binding it to the prosthesis during testing, this significantly improves testing comfort, making the entire testing process more comfortable and realistic. The aforementioned passive mode refers to the powered intelligent prosthesis 1 passively driving itself based on drive control force.

[0032] In this embodiment, the motion capture system 2 specifically includes multiple signal receiving devices 201 and multiple sets of cameras 202. Each signal receiving device 101 is arranged at a designated joint point of the powered intelligent prosthesis 1, and each set of cameras 202 is used to collect image data of the powered intelligent prosthesis 1 from different angles offline, so as to accurately collect motion data of the powered intelligent prosthesis 1 at different positions.

[0033] In this embodiment, signal receiving devices 201 are specifically installed at the corresponding positions on the thigh, lower leg, and foot of the powered intelligent prosthesis 1. These devices are used to collect data such as the movement trajectory, position information, and posture data of the thigh, lower leg, and foot, respectively. This allows for the acquisition of state data of key joint positions on the powered intelligent prosthesis 1, providing reference data for evaluating system errors. It is understood that signal receiving devices 201 can also be deployed at other locations on the powered intelligent prosthesis 1 that require attention, depending on actual needs.

[0034] like Figure 1 As shown, in a specific application embodiment, six sets of cameras 202 are arranged at different locations around the powered intelligent prosthesis 1. The spacing between each camera 202 is the same (60 degrees between every two cameras) to form a 360-degree acquisition range that completely covers all directions of the powered intelligent prosthesis 1. This allows for comprehensive acquisition of image information of all parts of the powered intelligent prosthesis 1 to determine the movement state of each part. Of course, the number of cameras 202 and the spacing between the cameras can be configured according to actual needs.

[0035] In this embodiment, inertial measurement units are respectively installed on the thigh, calf, and foot to collect three-dimensional angular velocity and acceleration data of the thigh, calf, and foot during walking, thereby obtaining the phase of each joint. The inertial measurement units mainly perform online motion data acquisition, that is, real-time acquisition of motion state data of the lower limb prosthesis 101 in an online state to obtain the real-time phase state of each joint.

[0036] In this embodiment, the joint fixation assembly specifically includes a thigh strap 131, a thigh fixation flange 132, a calf strap, and a foot strap, used to fix the thigh, calf, and foot of the test subject, respectively. The joint drive assembly is respectively located at designated joint points to generate control information based on data collected by the motion capture system 2, the inertial measurement unit, and the foot force sensor 106, driving the movement of each joint in the powered intelligent prosthesis 1. Specifically, the joint drive assembly includes a knee joint drive motor 141, an ankle joint drive motor 142, an ankle joint motor flange 143, and an ankle joint output shaft 144. The knee joint drive motor 141 is mounted on the thigh fixation flange 132 to drive the calf frame to rotate. The ankle joint drive motor 142 is mounted on the ankle joint motor flange 143 to drive the ankle joint output shaft 144 to rotate. The ankle joint output shaft 144 is fixedly connected to the foot bionic component 105.

[0037] like Figure 2 , 3As shown, the motion capture system 2 of the embodiment specifically includes six groups of high-speed motion capture cameras and signal receiving devices 201 installed on the powered intelligent artificial limb 1, for collecting three-dimensional motion trajectories, positions, postures and other data of each position. The first signal receiving device 211 is arranged on the thigh joint, for collecting data of the thigh; the second signal receiving device 212 is arranged on the lower leg, for collecting data of the lower leg; and the third signal receiving device 213 is arranged on the foot sole, for collecting data of the foot sole. The powered intelligent artificial limb 1 mainly includes a thigh bandage 131, a thigh fixing flange 132, a thigh support 111, a lower leg bandage (including a first lower leg bandage 1331 and a second lower leg bandage 1332), a lower leg support 112, an ankle joint motor flange 143, an ankle joint output shaft 144, an inertial measurement unit (IMU, including a thigh inertial measurement unit 161, a lower leg inertial measurement unit 162 and a foot sole inertial measurement unit 163), a knee joint driving motor 141, a foot bottom bandage (including a first foot bottom bandage 1341 and a second foot bottom bandage 1342), an ankle joint driving motor 142, a foot bottom plate bionic component 102, a foot sole bionic component 105 and a foot bottom force sensor 106.

[0038] When the test personnel wear the powered intelligent artificial limb 1, during walking, the test personnel's foot is stepped on the foot bottom plate bionic component 102 and fixed through the foot bottom bandage, the test personnel's lower leg and thigh are fixed through the lower leg bandage and the thigh bandage 131 respectively, the lower leg support is driven to rotate by the knee joint driving motor 141 installed on the thigh fixing flange 132, the ankle joint output shaft 144 is driven to rotate by the ankle joint driving motor 142 installed on the ankle joint motor flange 143, and the foot sole bionic component 105 is driven. By adopting the powered intelligent artificial limb 1, the test personnel can walk upright without bending the lower leg and fixing it on the artificial limb, compared with the traditional artificial limb test mechanism which needs to bend the lower leg and fix it on the artificial limb during the test, the comfort of the test can be effectively improved, the whole test process is more comfortable and real, and thus the test effect is improved.

[0039] As shown, Figure 4 the detailed steps of the test method of the intelligent powered lower limb artificial limb test system of the embodiment include:

[0040] S1. The test personnel wear the powered intelligent artificial limb 1 and set the powered intelligent artificial limb 1 to passive mode, and control the motion capture system 2 to collect motion trajectories, position information and posture data of the powered intelligent artificial limb 1 during walking in passive mode offline;

[0041] S2. The motion data of the powered intelligent artificial limb 1 during walking are collected online by the inertial measurement unit, and the phases of each joint are obtained;

[0042] S3. Collect the plantar force of the powered intelligent prosthesis 1 in the walking process through the plantar force sensor 106 online, and measure the pressure change state of the foot during standing or walking;

[0043] S4. Take the data collected in step S1 as reference data, control the motion state of each joint in the powered intelligent prosthesis 1 according to the phase of each joint collected in step S2 and the pressure change state of the foot measured in step S3.

[0044] In this embodiment, when the test personnel wear the powered intelligent prosthesis, the motion data of the test personnel in the walking process is first collected offline through the motion capture system 2 and taken as a reference value, which can be used to evaluate the system error, and at the same time, the motion data of the test personnel in the walking process is collected online through the inertial measurement unit, the phase of each joint is obtained, the plantar force is measured through the plantar force sensor 106, and the pressure change of the foot during standing or walking is measured through the dynamic measurement to accurately control the state of the prosthesis.

[0045] The motion data collected online in step S2 above includes three-dimensional angular velocity and acceleration data of the thigh, calf and foot, and other motion state data can be further collected to improve the test accuracy.

[0046] The step S4 of the embodiment specifically includes: taking the data collected in step S1 as reference data, analyzing the current walking state of the powered intelligent prosthesis 1 according to the measured pressure change state of the foot, generating a gait trajectory according to the walking state and the phase of each joint collected in real time, calculating the required control amount of each joint, driving the motion of each joint of the powered intelligent prosthesis 1 according to the calculated control amount, and realizing the control of the prosthesis.

[0047] In a specific application embodiment, the detailed steps of testing by using the above intelligent powered lower limb prosthesis test system are as follows:

[0048] First, set the powered intelligent prosthesis 1 to passive mode, after the test personnel wear it, collect the offline data of the test personnel in the walking process through the powered motion capture system 2 and take the offline data as a reference value;

[0049] During walking, the test personnel's foot is stepped on the foot plate bionic component 102 and fixed through the foot strap, the test personnel's calf and thigh are fixed through the calf strap and thigh strap 131 respectively, the knee joint drive motor 141 installed on the thigh fixing flange 132 drives the calf frame to rotate, the ankle joint drive motor 142 installed on the ankle joint motor flange 143 drives the ankle joint output shaft 144 to rotate and drives the foot palm bionic component 105;

[0050] Then the three-dimensional angular velocity and acceleration data of the thigh, lower leg and foot sole in the walking process are collected by each inertial measurement unit respectively, so as to obtain the phase of each joint;

[0051] The pressure of the foot sole is measured by the foot sole force sensor 106, the pressure change of the foot of the measured person standing or walking is measured dynamically, various gait information is analyzed and processed, and the state control of the artificial limb is realized.

[0052] The three-dimensional motion trajectory, position, attitude and other data of each position of the artificial limb in the passive mode are collected by the motion capture system 2 offline as reference values, the data acquisition accuracy of the motion capture system is high, the error is small, the system error can be more accurately evaluated, the three-dimensional measurement accuracy of the motion capture system 2 can reach 0.1mm, the control accuracy of the walking process of the intelligent power lower limb artificial limb can be effectively improved, and the power intelligent artificial limb 1 can make the test personnel walk upright, the test personnel can wear the artificial limb with straight legs, compared with the test process of other artificial limb test mechanisms, the small legs are bent and tied on the artificial limb, the comfort of the test is effectively improved, and the whole test process is more comfortable and real.

[0053] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Therefore, any simple modification, equivalent change and modification of the above embodiment without departing from the technical solution of the present application, according to the technical essence of the present application, should fall within the protection scope of the technical solution of the present application.

Claims

1. An intelligent powered lower limb prosthesis testing system, characterized in that: The system includes a powered intelligent prosthesis (1) and a motion capture system (2) for offline acquisition of motion trajectories, position information and posture data of multiple joint points of the powered intelligent prosthesis (1) as reference data. The powered intelligent prosthesis (1) includes a leg support for supporting the legs of the tester, a foot plate bionic component (102) for providing foot support for the tester, a joint fixation component and a joint drive component (104) for fixing the position of the leg joints, and a foot bionic component (105). The powered intelligent prosthesis (1) also includes multiple inertial measurement units and a foot force sensor (106) for acquiring foot force. Each inertial measurement unit is set at a designated joint point to acquire motion data of the powered intelligent prosthesis (1) during walking to obtain the phase of each joint. The foot force sensor (106) is set at the bottom of the foot bionic component (105). When the tester wears the powered intelligent prosthesis, the motion data of the tester during the walking process is collected offline by the motion capture system (2) and used as reference data. The inertial measurement unit collects the motion data of the tester during the walking process online, obtains the phase of each joint, measures the plantar force through the foot force sensor (106), and analyzes the current walking state of the powered intelligent prosthesis (1) by dynamically measuring the pressure change state of the foot when the tester stands or walks. The gait trajectory is generated according to the walking state and the phase of each joint collected in real time, and the control amount required for each joint is calculated. The joint movement of each powered intelligent prosthesis (1) is driven according to the calculated control amount to realize the control of the prosthesis.

2. The intelligent powered lower limb prosthesis testing system according to claim 1, characterized in that, The motion capture system (2) includes multiple signal receiving devices (201) and multiple sets of cameras (202). Each of the signal receiving devices (201) is arranged at a designated joint point of the powered intelligent prosthesis (1), and each set of cameras (202) is used to collect image data of the powered intelligent prosthesis (1) from different angles offline.

3. The intelligent powered lower limb prosthesis testing system according to claim 2, characterized in that, The signal receiving device (201) is respectively installed at the corresponding positions of the thigh, calf and foot of the powered intelligent prosthesis (1) to collect the motion trajectory, position information and posture data of the thigh, calf and foot.

4. The intelligent powered lower limb prosthesis testing system according to claim 1, characterized in that, The inertial measurement units are respectively set at the corresponding positions of the thigh, calf and foot of the powered intelligent prosthesis (1) to collect the three-dimensional angular velocity and acceleration data of the thigh, calf and foot positions during walking, so as to obtain the phase of each joint.

5. The intelligent powered lower limb prosthesis testing system according to any one of claims 1 to 4, characterized in that, The joint fixation assembly includes a thigh strap (131), a thigh fixation flange (132), a calf strap, and a foot strap, for fixing the test subject's thigh, calf, and foot respectively.

6. The intelligent powered lower limb prosthesis testing system according to any one of claims 1 to 4, characterized in that, The joint drive assembly (104) includes a knee joint drive motor (141), an ankle joint drive motor (142), an ankle joint motor flange (143), and an ankle joint output shaft (144). The knee joint drive motor (141) is mounted on the thigh fixing flange (132) to drive the lower leg frame to rotate. The ankle joint drive motor (142) is mounted on the ankle joint motor flange (143) to drive the ankle joint output shaft (144) to rotate. The ankle joint output shaft (144) is fixedly connected to the foot bionic component (105).

7. A testing method using the intelligent powered lower limb prosthesis testing system according to any one of claims 1 to 6, characterized in that the steps include... include: S1. The tester wears the powered intelligent prosthesis (1) and sets the powered intelligent prosthesis (1) to passive mode, and controls the motion capture system (2) to collect the motion trajectory, position information and posture data of the powered intelligent prosthesis (1) during the walking process in passive mode offline; S2. The motion data of the powered intelligent prosthesis (1) during walking is collected online by the inertial measurement unit to obtain the phase of each joint; S3. The foot force sensor (106) is used to collect the foot force of the powered intelligent prosthesis (1) during walking online, and the pressure change of the foot when standing or walking is measured. S4. Using the data collected in step S1 as reference data, and based on the phase of each joint collected in step S2 and the pressure change state of the foot measured in step S3, control the motion state of each joint in the powered intelligent prosthesis (1).

8. The test method according to claim 7, characterized in that, When the tester wears the powered intelligent prosthesis (1), the tester's foot is placed on the foot plate bionic component (102) and fixed by the foot strap. The tester's lower leg and thigh are respectively bound and fixed by the lower leg strap and the thigh strap (131). The lower leg frame is driven to rotate by the knee joint drive motor (141) installed on the thigh fixing flange (132). The ankle joint drive motor (142) installed on the ankle joint motor flange (143) drives the ankle joint output shaft (144) to rotate and drive the foot bionic component (105).

9. The test method according to claim 7, characterized in that, The motion data collected in real time in step S2 includes the three-dimensional angular velocity and acceleration data of the thigh, calf, and foot.

10. The test method according to claim 7, 8, or 9, characterized in that, Step S4 includes: using the data collected in step S1 as reference data, analyzing the current walking state of the powered intelligent prosthesis (1) based on the measured foot pressure change state, generating a gait trajectory according to the walking state and the phase of each joint collected in real time, calculating the control amount required for each joint, and driving the joint movement of each powered intelligent prosthesis (1) according to the calculated control amount.

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