Bionic lower limb robot prosthetic testing system and method

Abstract

This invention provides a biomimetic lower limb robot prosthesis testing system and method, comprising: a humanoid robot testing body, a load module, a support module, and a data acquisition module; the humanoid robot testing body includes at least human lower limb joints for simulating human lower limb walking; the human lower limb joints include at least one of a knee joint, an ankle joint, and a foot module, and at least a portion of the human lower limb joints can be replaced with a prosthesis test unit, enabling the humanoid robot testing body to drive the prosthesis test unit for walking tests; the load module is disposed on the humanoid robot testing body for providing a target load to the prosthesis test unit; the support module provides a walking path for the humanoid robot testing body to perform walking tests; and the data acquisition module monitors the test parameters of the prosthesis test unit during walking tests. This invention can simulate real-world usage scenarios and achieve accurate testing of multi-dimensional prostheses.

Description

Technical Field

[0001] This invention relates to the field of prosthetic testing technology, and in particular to a bionic lower limb robot prosthetic testing system and method. Background Technology

[0002] With the increasing demand for prostheses among people with limb disabilities and the iterative upgrading of prosthesis manufacturing technology, the quality and comprehensive performance testing of prostheses has become a key link in ensuring the safety and fit of prostheses.

[0003] Currently, the core testing capabilities of traditional prosthesis testing equipment are limited to fatigue testing and extreme stress testing, which can only meet the basic verification requirements for the quality and safety of prostheses and have significant technical limitations. On the one hand, the loading mode of traditional testing equipment is fixed and singular, and can only carry out repetitive mechanical stress fatigue tests at fixed positions. It cannot realistically simulate the complex scenarios of prosthesis in actual use, and it is difficult to reproduce the diverse stress states during the human walking gait cycle, resulting in test results that cannot fully reflect the actual performance of the prosthesis. On the other hand, the test indicators that existing testing equipment can output are extremely limited. It can only obtain basic indicators such as prosthesis continuity. It cannot effectively collect and evaluate the core performance indicators of prostheses in real dynamic use environments, such as bionic indicators reflecting gait matching degree and intelligent / adaptive indicators that adapt to complex scenarios. It is difficult to make a comprehensive and accurate judgment on the overall performance of prostheses in actual application.

[0004] In recent years, prosthetic technology has developed rapidly, with various new intelligent prostheses emerging one after another. This has placed higher demands on the accuracy, comprehensiveness, and scenario adaptability of prosthetic testing. An ideal prosthetic testing method needs to closely align with actual application scenarios, conducting comprehensive and multi-dimensional performance testing throughout the simulated human walking process to achieve in-depth analysis of the prosthesis's core performance indicators. However, due to inherent limitations in the structural design and functional configuration of existing testing equipment, current prosthetic testing equipment and technologies on the market cannot meet the testing needs of new intelligent prostheses, making it difficult to fully and effectively evaluate their comprehensive performance. This severely restricts the further upgrading and widespread application of prosthetic technology. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a bionic lower limb robot prosthetic testing system and method to eliminate or improve one or more defects existing in the prior art.

[0006] In a first aspect, the present invention provides a biomimetic lower limb robot prosthesis testing system, the system comprising: a humanoid robot testing body, a load module, a support module, and a data acquisition module; wherein, the humanoid robot testing body includes at least human lower limb joints for simulating human lower limb walking; the human lower limb joints include at least one of a knee joint, an ankle joint, and a foot module, at least a portion of the human lower limb joints being replaceable as a prosthesis test unit, so that the humanoid robot testing body can drive the prosthesis test unit to perform walking tests; the load module is disposed on the humanoid robot testing body for providing the prosthesis test unit with a target load matched to the walking test scheme; the support module is used to provide a walking path for the humanoid robot testing body to perform walking tests on; the data acquisition module is used to monitor the test parameters of the prosthesis test unit during walking tests.

[0007] In some embodiments, the data acquisition module includes: a kinematic parameter monitoring unit for acquiring at least one of gait phase, joint angle, joint velocity, and joint acceleration; wherein the gait phase includes at least stride length and stride frequency data; and a mechanical parameter monitoring unit for acquiring at least one of joint force, joint torque, and ground reaction force.

[0008] In some embodiments, the kinematic parameter monitoring unit includes at least one of the following: an inertial sensing device disposed within the human lower limb joint and / or the prosthesis test unit, for monitoring joint angles, joint velocities, and joint accelerations; the inertial sensing device includes a first inertial sensing device disposed at the thigh and calf positions on the prosthesis side, and a second inertial sensing device disposed at the thigh and calf positions on the robot side; and a three-dimensional motion capture device for acquiring gait phases, joint angles, joint velocities, and joint accelerations through image recognition.

[0009] In some embodiments, the mechanical parameter monitoring unit includes at least one of the following: a force sensor disposed on the humanoid robot test body near the prosthetic unit under test, for monitoring the joint force and joint torque of the prosthetic unit under test; a pressure sensor disposed on the bottom of the prosthetic unit under test; or a plurality of force measuring devices disposed on the support module on a set test path, for monitoring the ground reaction force.

[0010] The data acquisition module contains various sensors that can detect core physical quantities during the testing process in real time, covering kinematic parameters such as velocity, angular velocity, and displacement, as well as mechanical parameters such as force, enabling comprehensive perception of the motion and force state of the prosthetic unit under test and the test subject. The sensors convert the detected physical quantities into corresponding electrical signals, completing the initial conversion from physical quantity to electrical signal, laying the foundation for subsequent signal processing. The converted electrical signal is transmitted to the microcontroller, where it is amplified and filtered. The microcontroller amplifies weak inductive electrical signals to ensure signal strength and filters out noise signals generated by environmental interference, improving signal purity and accuracy. To adapt to the signal processing logic of computer equipment, the pre-processed analog electrical signal is converted into a digital signal through a digital-to-analog converter, achieving signal format standardization and ensuring that the data analysis and storage module can directly recognize and access it. The digitized signal can be transmitted to the data analysis and storage module via either wired or wireless communication. Wired communication methods include USB and Controller Area Network (CAN), which offer advantages such as stable transmission and low latency, making them suitable for continuous transmission of high-precision, high-frequency data. Wireless communication methods include Bluetooth and wireless communication networks, which offer flexible deployment and are not restricted by wires, making them suitable for data transmission in scenarios where the test subject moves over a wide area.

[0011] In some embodiments, the load module includes at least one of: a humanoid robot upper body, a loading chamber, a loading platform, and an adjustable counterweight module.

[0012] In some embodiments, the support module includes at least one of the following: flat ground with or without obstacles and ramps, a circular path, a turnaround path, a treadmill, and a conveyor belt.

[0013] In some embodiments, the system further includes a control module, which includes: a prosthesis management submodule, a support management submodule, and a test subject management submodule;

[0014] The prosthesis management submodule manages information about the prosthesis under test unit. This information includes: installation location, damping control method, power type, damping action medium, and structural type. The installation location includes left, right, and bilateral positions. The damping control method includes fixed damping, adjustable damping, and intelligent adaptive damping prostheses. The power type includes active and passive prostheses. The structural type includes single-axis and multi-link prostheses. The damping action medium type includes pneumatic, hydraulic, and magnetorheological prostheses. The multi-link prosthesis includes four-link and six-link prostheses.

[0015] The support management submodule is used to configure and manage the support module, adapt the test plan and detect the hardware information of the support module, and realize the custom configuration of the test path;

[0016] The test entity management submodule is used to manage the entire test process of the humanoid robot test entity, realizing test process control, operation status monitoring, and key parameter configuration. The test entity management submodule is equipped with a test start / stop control unit, which can output start or stop commands to regulate the start and stop of the entire prosthetic testing process. The test entity management submodule is equipped with an operation status monitoring and fault diagnosis unit, which monitors the operation status of each functional module of the system in real time, and immediately outputs a fault signal and triggers a safety shutdown when an abnormal working condition is detected. The test entity management submodule is equipped with a multi-level parameter configuration and dynamic adjustment unit, which can set step length, step frequency, and loading force parameters in stages and dynamically adjust them during the test.

[0017] In some embodiments, the system further includes a data analysis and storage module, the data analysis and storage module comprising:

[0018] The fatigue index acquisition unit is used to correlate the gait frequency data collected by the kinematic parameter monitoring unit, the relevant mechanical data collected by the mechanical parameter monitoring unit, and the observation results of joint structure continuity after the walking test. The fatigue evaluation index is obtained based on the test conditions of a gait frequency of 1~2Hz and a cumulative 3 million unilateral walkings, according to the joint structure continuity and correlated data. The joint structure continuity is determined by directly observing the joint integrity and smoothness of movement of the prosthesis under test unit after the walking test.

[0019] A biomimetic index acquisition unit is used to associate the kinematic and mechanical parameters of both sides of the humanoid robot test subject; the kinematic parameters include gait phase, joint angle, joint motion velocity, and joint motion angular velocity; the mechanical parameters include ground reaction force, joint force, and joint torque; the gait phase includes at least stride length and stride frequency data; and is used to compare the consistency of the kinematic and mechanical parameters of both sides.

[0020] The intelligent and adaptive index acquisition unit is used to acquire the response speed and response degree of the intelligent prosthesis when facing changes in road conditions. The response speed is the time when the kinematic and mechanical parameters of the prosthesis side tend to stabilize after the road conditions change, and the response degree is the similarity of the gait phase, motion performance and mechanical performance of the prosthesis side and the robot side after the parameters stabilize.

[0021] Secondly, the present invention also provides a method for testing a bionic lower limb robot prosthesis, the method being implemented based on the aforementioned bionic lower limb robot prosthesis testing system, the method comprising the following steps:

[0022] The prosthetic test unit is mounted on the humanoid robot test body, and the prosthetic test unit includes a knee joint, ankle joint or foot module;

[0023] The load module is configured based on the walking test scheme to provide load to the prosthetic test unit;

[0024] The support module is configured based on the walking test scheme to provide a test route to the humanoid robot test subject;

[0025] During the walking test, the test parameters of the humanoid robot test body and the prosthetic test unit are monitored in real time through the data acquisition module;

[0026] Based on the test parameters, evaluate at least one of the fatigue index, bionic index, and intelligence and adaptability index of the prosthetic test unit.

[0027] Thirdly, the present invention also provides a computer program product, including a computer program / instruction that, when executed by a processor, implements the steps of the aforementioned bionic lower limb robot prosthesis testing method.

[0028] Compared to traditional prosthetic testing equipment, the bionic lower limb robot prosthetic testing system in this embodiment of the invention provides a testing scenario that more closely resembles real-world usage conditions. The system relies on a humanoid robot testing body capable of simulating the entire gait cycle of the human lower limb and allows for modular replacement of the prosthetic testing unit. It can reproduce diverse force states within the human walking gait cycle, breaking the limitations of traditional equipment's fixed, single-load mode and addressing the pain point of being unable to replicate actual usage scenarios. The system offers more comprehensive and diverse testing indicators. It can collect multi-dimensional test parameters such as kinematics and mechanics, enabling it to not only perform basic fatigue testing but also acquire core performance indicators of novel intelligent prosthetics, such as bionics, intelligence, and adaptability. This overcomes the shortcomings of traditional equipment, which can only detect prosthetic fatigue and extreme forces. Furthermore, the system boasts enhanced adaptability. The load module can adjust the target load as needed, and the support module can construct diverse walking paths, meeting the testing needs of different types of prosthetics. This provides an effective solution for the performance evaluation of novel intelligent prosthetics, contributing to the upgrading and promotion of prosthetic technology.

[0029] Additional advantages, objects, and features of the invention will be set forth in part in the description which follows, and will also become apparent in part to those skilled in the art upon studying the description, or may be learned by practice of the invention. The objects and other advantages of the invention can be realized and obtained by means of the structures specifically pointed out in the description and drawings.

[0030] Those skilled in the art will understand that the objectives and advantages achievable with the present invention are not limited to those specifically described above, and that the above and other objectives achievable with the present invention will become clearer from the following detailed description. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, are not intended to limit the scope of the invention. The components in the drawings are not drawn to scale but are merely illustrative of the principles of the invention. For ease of illustration and description of certain parts of the invention, corresponding portions in the drawings may be enlarged, i.e., may appear larger relative to other components in an exemplary device actually manufactured according to the invention.

[0032] Figure 1 This is a schematic diagram of the structure of a bionic lower limb robot prosthetic testing system according to an embodiment of the present invention.

[0033] Figure 2 This is a flowchart of a bionic lower limb robot prosthesis testing method according to another embodiment of the present invention.

[0034] Figure label:

[0035] 1. Humanoid robot test body; 2. Support module; 3. Load module; 4. Data acquisition module; 5. Control module; 6. Data analysis and storage module; 7. Prosthetic limb test unit. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this invention are used to explain the invention, but are not intended to limit the invention.

[0037] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0038] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, element, step, or component, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0039] It should also be noted that, unless otherwise specified, the term "connection" in this article can refer not only to a direct connection, but also to an indirect connection involving an intermediary.

[0040] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0041] To address the technical problems of existing prosthetic testing equipment being unable to simulate real-world usage scenarios, having limited testing indicators, and being unable to adapt to the testing needs of new intelligent prosthetics, this invention proposes a biomimetic lower limb robot prosthetic testing system and method. By constructing a testing subject that conforms to the actual walking characteristics of the human body and customizable load and scenario modules, it achieves accurate testing of the multi-dimensional performance of prosthetics.

[0042] In a first aspect, the present invention provides a bionic lower limb robot prosthetic testing system, such as... Figure 1 As shown, the system includes: a humanoid robot test body 1, a load module 3, a support module 2, and a data acquisition module 4, etc. The modules work together to complete the full-scene, multi-parameter test of the prosthetic limb test unit 7.

[0043] The humanoid robot test body 1 includes at least human lower limb joints to simulate human walking. The human lower limb joints include at least one of a knee joint, an ankle joint, and a foot module. At least a portion of the human lower limb joints can be replaced with a prosthetic limb test unit 7, enabling the humanoid robot test body 1 to drive the prosthetic limb test unit 7 for walking tests. Figure 1 The uppermost prosthetic unit 7 of the right lower limb (left side in the figure) of the humanoid robot test subject 1 is a knee joint prosthesis, the lowermost prosthetic unit 7 is a foot modular prosthesis, and the lowermost slightly upper prosthetic unit 7 is an ankle joint prosthesis.

[0044] The human lower limb joints can reproduce the gait characteristics of the entire human walking cycle. These lower limb joints include knee, ankle, and foot joints, and at least one of these joint components is a modular, replaceable structure that can be directly replaced as the prosthetic limb test unit 7. During testing, the humanoid robot test body 1 can drive the prosthetic limb test unit 7 to complete various walking tests, enabling performance verification of the prosthesis under near-real human movement conditions.

[0045] In this invention, the load module 3 is disposed on the humanoid robot test body 1 and is used to provide the prosthetic limb test unit 7 with a target load that matches the walking test scheme, thereby simulating the force state when users of different weights wear prostheses, and ensuring the authenticity and relevance of the test environment.

[0046] In this invention, the support module 2 is used to provide a walking path for the humanoid robot test subject 1 to perform walking tests on it; the support module 2 can provide physical space and can build different walking scenarios according to test requirements, adapting to diverse prosthetic performance verification needs.

[0047] In this invention, the data acquisition module 4 is used to monitor the test parameters of the prosthetic unit 7 during the walking test. The data acquisition module 4 is the core unit for acquiring test data, capable of real-time monitoring and collecting various test parameters of the prosthetic unit 7 during the walking test, providing complete data support for subsequent performance index analysis and comprehensive performance evaluation.

[0048] Compared to traditional prosthetic testing equipment, this bionic lower limb robot prosthetic testing system offers testing scenarios that more closely resemble real-world usage conditions. The system relies on a humanoid robot testing body 1 that can simulate the entire gait cycle of the human lower limb and can modularly replace the prosthetic testing unit 7. It can reproduce diverse force states within the human walking gait cycle, breaking the limitations of traditional equipment's fixed, single-load mode and solving the pain point of being unable to reproduce actual usage scenarios. The system offers more comprehensive and diverse testing indicators, collecting multi-dimensional test parameters such as kinematics and mechanics. It can not only perform basic fatigue testing but also obtain core performance indicators of novel intelligent prosthetics, such as bionics, intelligence, and adaptability, overcoming the shortcomings of traditional equipment that can only detect prosthetic fatigue and extreme stress. The system also boasts stronger adaptability; the load module 3 can adjust the target load as needed, and the support module 2 can construct various walking paths, meeting the testing needs of different types of prosthetics. This provides an effective solution for the performance evaluation of new intelligent prosthetics, contributing to the upgrading and promotion of prosthetic technology.

[0049] This invention, based on a humanoid robot testing body 1, achieves biomimetic multi-dimensional loading during prosthetic testing. This module can accurately simulate the entire gait cycle of human walking. Combined with a flexibly configurable load module, it can simulate human body weight through basic counterweights and superimpose dynamic loads to restore the force state under different load scenarios. At the same time, it can reproduce the diverse mechanical changes brought about by joint flexion and extension and center of gravity shift during human walking. This completely changes the fixed and single loading mode of traditional testing equipment, achieving a technological breakthrough from "mechanical static loading" to "biomimetic dynamic multi-dimensional loading," making the testing environment highly consistent with the actual working conditions of prostheses.

[0050] In some embodiments, the data acquisition module 4 is the core unit for acquiring test data. It can monitor and collect various test parameters of the prosthetic unit 7 during the walking test in real time, providing complete data support for subsequent performance index analysis and comprehensive performance evaluation.

[0051] Optionally, the data acquisition module 4 may include two core functional units: a kinematic parameter monitoring unit and a mechanical parameter monitoring unit. This invention, by integrating a multi-dimensional detection module with both kinematic and mechanical parameter monitoring units, achieves multi-modal data acquisition in both kinematic and mechanical domains. It can simultaneously acquire various types of data, including gait phases, joint angles, joint velocities, joint forces, joint torques, and ground reaction forces. Based on this multi-modal data, the system can further output multi-dimensional evaluation indicators such as fatigue performance, bionics, intelligence, and adaptability. These include, but are not limited to: fatigue indicators to assess the long-term durability of the prosthesis; bionic indicators to determine the natural fit of the prosthesis's gait; and intelligence and adaptability indicators to verify the scene response capability of the intelligent prosthesis. This forms a complete performance evaluation system, overcoming the technical shortcomings of traditional testing methods that can only detect prosthesis fatigue and extreme stress indicators, and achieving a comprehensive and accurate assessment of the overall performance of the prosthesis.

[0052] Furthermore, the kinematic parameter monitoring unit is used to acquire at least one of the following data: gait phase, joint angle, joint velocity, and joint acceleration; wherein the gait phase includes at least stride length and stride frequency data. Specifically, this unit can acquire key data such as gait phase (including at least stride length and stride frequency), joint angle, joint velocity, and joint acceleration, which can both quantify the basic walking rhythm of the prosthesis and intuitively reflect the range of motion, speed of motion, and acceleration changes of the prosthesis joints. This provides core data support for judging whether the prosthesis conforms to the normal walking trajectory of the human body and whether the gait is continuous and natural, and is a key data source for evaluating the bionicity of the prosthesis.

[0053] Furthermore, the mechanical parameter monitoring unit is used to acquire data on at least one of joint force, joint torque, and ground reaction force. This unit is a dedicated data acquisition module for force state data, its function being to monitor various mechanical feedbacks of the prosthesis during actual walking in real time, accurately acquiring parameters such as joint force, joint torque, and ground reaction force. This data clearly presents the magnitude and direction of forces acting on the prosthesis at different stages of the gait cycle, allowing for the assessment of the prosthesis's load-bearing capacity and force balance, as well as the analysis of whether the torque changes in the prosthesis joints conform to human physiological mechanics. It serves as a crucial basis for evaluating the structural stability, fatigue durability, and mechanical adaptability of intelligent prostheses in various scenarios.

[0054] Traditional prosthetic testing can only acquire data in a single dimension. This system, however, builds upon this by simultaneously collecting both kinematic and mechanical parameters from two units. It can assess the biomimicry of the prosthetic gait using kinematic data and verify structural safety and stress rationality using mechanical data, enabling a comprehensive analysis of the prosthetic's overall performance and overcoming the limitations of traditional single-indicator testing. There is a strong correlation between kinematic and stress states; changes in kinematic parameters directly lead to fluctuations in mechanical parameters. Simultaneous acquisition of both allows for the establishment of a "kinematic-stress" correlation analysis model. For example, by combining gait frequency changes and joint torque data, it can analyze the stress adaptability of the prosthesis under different kinematic states; by combining joint angle and ground reaction force data, it can determine the mechanical rationality of the prosthesis's landing posture, providing a complete data logic chain for accurately evaluating prosthetic performance.

[0055] For intelligent prostheses, intelligence and adaptability are reflected not only in scene adaptation during movement, such as automatic adjustment of joint angles when going uphill, but also in dynamic response to stress, such as real-time optimization of joint torque when road conditions change. Simultaneous monitoring of kinematic and mechanical parameters in both units can simultaneously acquire motion response and mechanical adaptation data, thereby enabling accurate calculation of intelligence and adaptability indicators and meeting the testing requirements of new intelligent prostheses.

[0056] In some embodiments, the kinematic parameter monitoring unit includes at least one of the following: an inertial sensing device disposed within the human lower limb joint and / or the prosthesis test unit 7, for monitoring joint angles, joint velocities, and joint accelerations; the inertial sensing device includes a first inertial sensing device disposed at the thigh and calf positions on the prosthesis side, and a second inertial sensing device disposed at the thigh and calf positions on the robot side; and a three-dimensional motion capture device for acquiring gait phases, joint angles, joint velocities, and joint accelerations through image recognition.

[0057] In the above embodiments, the kinematic parameter monitoring unit can be a single device or a combination of multiple devices. The inertial sensing device is built into the human lower limb joint and / or the prosthetic unit under test 7, and its core function is to accurately monitor motion parameters such as joint angles, joint velocities, and joint accelerations. To achieve symmetrical comparison of parameters on both sides, the inertial sensing device is deployed on both sides: firstly, a first inertial sensing device is located on the thigh and lower leg of the prosthetic side to collect motion data of the prosthetic unit under test 7; secondly, a second inertial sensing device is located on the thigh and lower leg of the robot side to collect motion data of the healthy side (non-prosthetic side) of the humanoid robot test subject 1, providing a reference benchmark for subsequent symmetry analysis of biomimetic indicators.

[0058] As another feasible approach, the 3D motion capture device relies on image recognition technology to acquire kinematic data. By capturing the motion trajectory of the lower limb joints and the prosthetic unit 7 under test, it can obtain full-dimensional motion parameters such as gait phase, joint angle, joint velocity, and joint acceleration. The advantage of this method is that it can achieve non-contact monitoring, avoiding interference from sensor deployment on the prosthetic motion state. At the same time, it can intuitively present the overall gait trajectory, providing visual data support for the assessment of gait continuity and coordination.

[0059] In some embodiments, the mechanical parameter monitoring unit includes at least one of the following: a force sensor disposed on the humanoid robot test body 1 near the prosthetic test unit 7, for monitoring the joint force and joint torque of the prosthetic test unit 7; a pressure sensor disposed on the foot of the prosthetic test unit 7; or a plurality of force measuring devices disposed on the support module 2 on a set test path, for monitoring the ground reaction force.

[0060] The mechanical parameter monitoring unit can accurately collect the mechanical parameters of the prosthetic test unit 7 through a combination of various hardware devices or by deploying one of them selectively. A force sensor is deployed on the humanoid robot test body 1 near the prosthetic test unit 7. Its core function is to specifically monitor the joint forces and torques of the prosthetic test unit 7 during walking. By deploying this sensor near the proximal end of the test unit, the magnitude of the force and torque changes of the prosthetic joint under different movement states such as flexion, extension, and weight-bearing can be directly captured. This provides direct data support for evaluating the mechanical load-bearing capacity and torque output rationality of the prosthetic joint, and also provides crucial evidence for subsequent analysis of the mechanical compatibility between the prosthesis and the human lower limb.

[0061] As another feasible approach, pressure sensors / force measuring devices can be used to accurately acquire ground reaction force data. The pressure sensor is directly embedded in the foot of the prosthetic test unit 7, which can collect the distribution of foot pressure and the magnitude of the overall reaction force when the prosthesis touches the ground in real time, and can intuitively reflect the force balance when the prosthesis lands; several force measuring devices are deployed on the set test path of the support module 2, which can monitor the dynamic changes of ground reaction force throughout the entire path of the prosthesis's walking, and are especially suitable for collecting ground reaction force data when road conditions change in multi-scenario testing, providing data support for analyzing the force response of the prosthesis under different road conditions.

[0062] In some embodiments, in order to achieve precise application and flexible adjustment of the target load on the prosthetic test unit 7, the load module 3 may include at least one of the following: humanoid robot upper body, loading chamber, loading platform and adjustable counterweight module, to adapt to different test load requirements.

[0063] Among them, the upper body of the humanoid robot serves as the basic carrier of the load, which can simulate the self-weight of the upper body of the human body, provide a vertical load close to that of a real human body for the lower limb prosthesis to-be-tested unit 7, and at the same time, its linkage with the lower limb test main body can ensure the coordination of load application and restore the natural pressure of the upper body on the lower limb prosthesis when the human body walks. The loading bin is a closed load adjustment structure, which can be internally equipped with counterweight components of different specifications, and ensure the stability of the load through a sealed design, avoiding the influence of counterweight offset on the load accuracy during the test, and is suitable for fatigue test scenarios with high requirements for load stability. The loading platform is an open load-bearing structure, with convenient interfaces for increasing and decreasing counterweights, which can quickly adjust the total load according to the test plan, and at the same time support the uniform distribution and local centralized adjustment of the load, adapting to the test requirements of different body weight levels and different force distributions. The adjustable counterweight module is the core load adjustment component, including several standardized counterweight blocks and precise adjustment components, which can not only achieve step-by-step adjustment of the load by adding or removing counterweight blocks, but also complete the fine calibration of the load with the help of the fine adjustment component to achieve precise matching of the target load, meeting the diverse requirements for load parameters in different test plans.

[0064] In some embodiments, to fully simulate the diverse walking environments of the prosthesis in actual applications and meet the performance detection requirements in different scenarios, the support module 2 may include at least one of flat ground (with or without obstacles and with or without ramps), circular walking paths, return walking paths, treadmills, and conveyor belts.

[0065] Among them, the flat ground, as the basic test scenario, can provide a flat walking surface for detecting the basic walking performance of the prosthesis under normal road conditions, and is the benchmark scenario for evaluating the gait stability and force balance of the prosthesis. The circular walking path can adopt a closed-loop path design to enable long-distance continuous walking tests of the prosthesis, and is suitable for carrying out long-time fatigue detection of the prosthesis and simulating the walking adaptability test of outdoor circular routes. The return walking path can be configured with a return turning area, which can simulate the turning and returning actions during human walking, and can detect the motion flexibility and mechanical response adaptability of the prosthesis during gait switching and direction adjustment. The treadmill can precisely control the walking frequency by adjusting the conveyor belt speed, and can complete walking tests at different walking frequencies within a fixed space, facilitating the collection of kinematic and mechanical parameters of the prosthesis under different walking rhythms. The conveyor belt can simulate both the uniform movement scenario under a fixed walking path and the composite scenario test with multi-parameter linkage by adjusting the conveyor belt slope and speed, adapting to the performance detection requirements of complex dynamic road conditions.

[0066] At the same time, any of the above scene structures can flexibly choose whether to add obstacles or ramps according to the test plan: adding obstacles can detect the obstacle avoidance response ability of the prosthesis, and adding ramps can simulate the inclined road conditions of uphill and downhill, so as to achieve a comprehensive detection of the adaptability of the prosthesis to complex scenarios.

[0067] In some embodiments, to achieve standardized and intelligent management and control of the entire prosthesis testing process, the system further includes a control module 5, which may include: a prosthesis management submodule, a support management submodule, a testing subject management submodule, etc.

[0068] The prosthesis management submodule is used to manage the information of the prosthesis testing unit 7, and can realize the systematic management and accurate calibration of the full-dimensional information of the prosthesis testing unit 7.

[0069] Furthermore, the information of the prosthetic testing unit 7 includes: installation position, damping control method, power type, damping action medium, and structural type.

[0070] Optionally, the installation position includes the left side, right side, and both sides, used to determine the wearing orientation of the prosthetic unit 7 to be tested. By accurately calibrating the installation position, the system can automatically match the gait reference data of the human lower limb on the corresponding side. At the same time, it can adjust the motion control logic and data acquisition comparison benchmark of the humanoid robot test body 1 for different testing needs of unilateral or bilateral prostheses, ensuring the consistency between the testing scenario and the actual wearing scenario.

[0071] Optionally, the damping control method includes fixed-damping prostheses, adjustable-damping prostheses, and intelligent adaptive-damping prostheses, used to match prosthesis testing standards with different structures and intelligence levels. Fixed-damping and adjustable-damping prostheses are non-intelligent prostheses, while intelligent adaptive-damping prostheses are intelligent prostheses. For intelligent prostheses, the system can automatically activate the testing process for intelligence and adaptability indicators and configure dynamic testing schemes for scene switching; for non-intelligent prostheses, the system defaults to activating the basic fatigue and bionic indicator testing process to avoid executing invalid testing steps and improve testing efficiency and specificity. Fixed-damping prostheses are purely mechanical or constant-damping prostheses with fixed damping; the damping of adjustable-damping and intelligent adaptive-damping prostheses is adjustable. Specifically, the damping value of adjustable-damping prostheses can be adjusted manually or semi-automatically (e.g., by knob adjustment or button switching), but it cannot adaptively change in real time according to the motion state. The intelligent adaptive damping prosthesis has built-in sensors and control chips that can sense changes in gait and road conditions in real time and automatically adjust the damping value.

[0072] Optionally, the power type includes active and passive prostheses to adapt to the performance verification requirements of different power drive modes. An active prosthesis is a type of prosthesis with power drive, containing built-in motors, hydraulic pumps, pneumatic cylinders, and other power output devices. It can be powered by batteries or an external power source to assist or lead the flexion and extension movements of the joint, reducing the compensatory burden on the user's limbs. A passive prosthesis is a type of prosthesis without external power. It is not equipped with an active power output device and relies entirely on the user's own limb movements, or achieves passive flexion and extension of the joint through damping structures and linkage mechanisms. Its structure is relatively simple and does not require a power source. For active prostheses, the system can focus on monitoring the coordination between power output and gait, and the performance stability under power endurance; for passive prostheses, the focus is on testing the force adaptability of its mechanical structure and gait following ability, achieving differentiated and accurate testing of prostheses with different power types.

[0073] Optionally, the mechanical types include uniaxial prostheses and multi-link prostheses, with multi-link prostheses including four-link and six-link prostheses. The core structure of a uniaxial prosthesis is a single rotational axis joint, whose joint movement is limited to flexion and extension movements around this fixed axis. It features a simple structure, light weight, and low maintenance costs. From a mechanical and kinematic perspective, the joint rotation trajectory of a uniaxial prosthesis is a fixed circular arc. Its load-bearing force transmission path is direct and singular, primarily relying on damping structures at the joint (such as fixed damping or simple adjustable damping) to control flexion and extension speeds. From a testing perspective, performance verification of uniaxial prostheses should focus on the rotational stability of the axis joint, the smoothness of the damping force, and gait following under a single trajectory, ensuring that the joint does not experience looseness or jamming during high-frequency flexion and extension.

[0074] Multi-link prostheses achieve joint movement through the coordinated operation of multiple sets of linkage components. By designing the length and angle of the linkages, they can precisely simulate the movement trajectory of human physiological joints, making them the mainstream mechanical type for mid-to-high-end prostheses. Four-link prostheses consist of a core transmission mechanism composed of four linkages. Through the linkage of these linkages, they can achieve a near-instantaneous change in the rotation center of the human knee joint. During the load-bearing phase, they can automatically adjust the direction of force transmission, improving standing stability; during the swinging phase, they can optimize gait trajectory and reduce user limb compensation. This type of prosthesis balances mobility and load-bearing stability. Testing requires focusing on verifying the mechanical load-bearing capacity of the linkage hinges, the synchronicity of the multi-component linkage, and the biomimeticity of the trajectory. Six-link prostheses add two auxiliary linkages to the four-link structure, possessing more complex transmission logic and more precise biomimetic motion trajectories. They can achieve compound movements of knee flexion and extension with slight internal and external rotation, and can adaptively adjust the load-bearing fulcrum at different gait stages, greatly improving the naturalness of the gait and adaptability to complex scenarios.

[0075] The adjustable damping prostheses utilize various motion media, including pneumatic, hydraulic, and magnetorheological prostheses, to accurately classify and match detection schemes for prostheses with different mechanical structures. Pneumatic prostheses use compressed gas as the core motion medium, leveraging the compressibility of gas to adjust joint damping. Their core structure typically includes a pneumatic cylinder, a gas storage device, a pressure regulating valve, and a control module. Hydraulic prostheses use hydraulic oil as the motion medium, utilizing the incompressibility and flow resistance characteristics of hydraulic oil to achieve precise joint damping control—a traditional adjustable damping prosthesis. Its core structure includes a hydraulic cylinder, a hydraulic pump, a flow control valve, an oil reservoir, and a power unit. Magnetorheological prostheses utilize magnetorheological fluid, a smart material, as the motion medium to achieve rapid and precise damping control. This represents the forefront of current adjustable damping prosthesis technology. Its core structure includes a magnetorheological damper, an electromagnetic coil, a controller, and a gait sensing sensor.

[0076] The adjustable damping prosthesis's motion medium enables precise classification and matching of testing schemes for prostheses with different mechanical structures. The system can automatically retrieve corresponding detection parameter thresholds and mechanical analysis models based on the mechanical characteristics and motion principles of different mechanical structures. For example, for hydraulic adjustable damping prostheses, the system can focus on monitoring the timeliness and stability of damping adjustment response, while for four-bar mechanical prostheses, the system can focus on verifying the fatigue strength of the linkage structure and the adaptability of the motion trajectory.

[0077] In some embodiments, the support management submodule is used to configure and manage the support module 2, adapt the test plan and detect the hardware information of the support module 2, and realize the custom configuration of the test path. This submodule can realize the custom parameterized configuration of the test path based on the preset test plan and the basic hardware information of the support module 2, thereby ensuring the accurate matching of the test scenario with the actual application conditions of the prosthesis, and providing standardized scenario control support for prosthesis performance testing in multiple scenarios.

[0078] Furthermore, the support management submodule has a built-in hardware information identification and adaptation unit for support module 2, which can automatically read the hardware configuration parameters of support module 2, including core hardware parameters such as the type of scene that can be built, the path size range, the slope adjustment threshold, the number and specifications of obstacles that can be deployed, etc. At the same time, it establishes a matching and verification mechanism between hardware capabilities and test scenarios to avoid invalid configurations that exceed the hardware's carrying capacity, thus ensuring the feasibility and safety of scene building.

[0079] Furthermore, the support management submodule can define the path into basic forms such as flat straight roads, circular paths, and turnaround paths according to testing requirements. It can also precisely set parameters such as path length, width, and turning radius to adapt to testing requirements under different dynamic amplitudes. The support management submodule can also set the slope parameters of the path in stages to achieve flexible combinations of road conditions such as uphill, downhill, and flat roads. It can also associate parameters such as speed and transmission direction of dynamic path devices such as treadmills and conveyor belts to simulate complex road conditions during dynamic movement. The support management submodule can also support the placement of obstacles in designated sections of the preset path. The height, width, spacing, and distribution density of obstacles can be customized. At the same time, the dynamic or static attributes of obstacles can be set to meet the scenario requirements of prosthetic obstacle avoidance performance testing.

[0080] Furthermore, in response to the need for continuous testing under multiple working conditions, the support management submodule also has the ability to dynamically switch scenarios and control processes. It can automatically trigger the switching of road conditions in different path sections according to the preset test sequence, such as achieving a seamless transition from flat ground to a slope. At the same time, it can send scenario switching signals to the test subject management submodule to achieve coordinated adjustment of the test subject's gait parameters and scenarios, ensuring the smoothness of continuous testing under multiple scenarios and the integrity of data collection.

[0081] In some embodiments, the test subject management submodule is used to perform full-process test management on the humanoid robot test subject 1, and realize test process control, operation status monitoring and key parameter configuration.

[0082] Furthermore, the test main management submodule is equipped with a test start / stop control unit, which can output start or stop commands to regulate the start and stop of the entire prosthetic testing process; this unit can achieve precise start and stop control of the entire prosthetic testing process to ensure the orderliness of the testing process.

[0083] Furthermore, the test main management submodule is equipped with an operation status monitoring and fault diagnosis unit, which monitors the operation status of each functional module of the system in real time. When an abnormal operating condition is detected, it immediately outputs a fault signal and triggers a safety shutdown to ensure the safety of the test process and the stability of the equipment.

[0084] Furthermore, the test subject management submodule is equipped with a multi-level parameter configuration and dynamic adjustment unit, which can set step length, step frequency, and loading force parameters in stages and dynamically adjust them during the test, ensuring the consistency, repeatability, and flexibility of the test process. For example, the preset parameters for the multi-level parameter configuration and dynamic adjustment unit are: step length 0.7m, step frequency 100 steps / min (1.2Hz), and loading force 50kg.

[0085] Understandably, for prostheses used by elderly users, the test cadence will tend to be in the low-speed range of 1.0~1.2Hz, which matches the walking habits of the elderly. For prostheses used by middle-aged and young users, the cadence can be appropriately increased to 1.5~1.8Hz to match their higher activity intensity. The aforementioned bionic lower limb robot testing system supports precise control of cadence. It can achieve multi-level configuration and dynamic adjustment of cadence through the test body management submodule, which can fully cover the core test range of 1~2Hz. At the same time, it can be expanded to a wide range of 0.8~3.5Hz according to actual needs to meet diverse testing requirements.

[0086] Compared to everyday walking tests, prosthetic running tests require matching the high dynamic and high impact characteristics of running conditions. The cadence and load settings must be determined comprehensively based on the running intensity level, the prosthesis's intended user group, and the core testing objectives. Jogging is a running state that prosthesis users can easily achieve, with a cadence setting range of 2.0~2.5Hz (i.e., 120~150 steps per minute), which is the typical cadence range for healthy adults jogging. In testing, this cadence is mainly used to verify the gait stability, joint cushioning performance, and motor coordination with the unaffected limb under low-intensity running conditions, suitable for basic performance testing of rehabilitation running prostheses. For example, in the aforementioned testing system, the cadence can be locked at 2.2Hz through the test main management submodule, combined with the flat running track of the support module, to conduct biomimetic and mechanical response testing under jogging conditions.

[0087] The medium-speed running test is designed for prosthetic users with a certain level of athletic ability, with a cadence range of 2.5–3.0 Hz (i.e., 150–180 steps per minute). At this cadence, the flexion and extension range and torque changes of the prosthetic joint are more dramatic, allowing for a focused assessment of the prosthesis's structural strength, the rapid response of damping adjustments, and the anti-slip and cushioning capabilities of the foot. It is important to note that this cadence test must simultaneously monitor the peak joint force to avoid damaging the prosthetic unit under test due to excessive impact.

[0088] For sports prostheses, the cadence range can be set to 3.0~3.5Hz (i.e., 180~210 steps per minute), and the limit test for some professional sports prostheses can be adjusted to 3.5~4.0Hz. At this cadence, the prosthesis needs to withstand high-frequency alternating impacts. The core testing objectives are the prosthesis's fatigue resistance, joint torque stability, and overall structural durability. High-speed cameras and high-frequency impact sensors are required to complete data acquisition to ensure that instantaneous mechanical and kinematic parameters within the gait cycle are captured.

[0089] It is understandable that the load on the lower limbs during running is significantly higher than that during walking (usually 2 to 3 times the body weight). Therefore, the load in prosthetic running tests needs to take into account both static weight simulation and dynamic impact equivalence.

[0090] The base load simulates the user's weight, and its setting range is basically the same as that of the walking test, such as 50-80kg. The specific range needs to be matched to the appropriate weight class of the prosthesis. For example, for a rehabilitation running prosthesis suitable for elderly users, the base load can be set to 50-60kg; for a sports prosthesis suitable for middle-aged and young users, the base load can be set to 60-80kg. This load is achieved through the system's load module (humanoid robot upper body and adjustable counterweight module), ensuring that the prosthesis conforms to the actual usage scenario in terms of static load-bearing capacity.

[0091] To replicate the ground impact during running, a dynamic impact load needs to be superimposed on the base load, typically 0.5 to 1.0 times the base load. This can be achieved through the dynamic weight adjustment components of the load module or the elastic surface of the support module. For example, when the base load is 60 kg, the dynamic impact load can be set to 30 to 60 kg to simulate the instantaneous impact force when landing while running. This allows for testing the performance of the prosthesis's cushioning structure, the energy absorption capacity of the joints, and the impact resistance of the connectors.

[0092] In some embodiments, to achieve systematic processing, index-based analysis, and secure storage of test data, the system further includes a data analysis and storage module 6. The data analysis and storage module 6 includes a fatigue index acquisition unit, a bionic index acquisition unit, and an intelligent and adaptive index acquisition unit, etc. It can complete the quantitative evaluation of the comprehensive performance of the prosthesis based on the multi-dimensional data transmitted by the data acquisition module 4, and at the same time undertake the responsibilities of data storage and early warning of abnormal working conditions.

[0093] The fatigue index acquisition unit is used to correlate the cadence data collected by the kinematic parameter monitoring unit, the relevant mechanical data collected by the mechanical parameter monitoring unit, and the observation results of the continuity of the joint structure after the walking test. The fatigue evaluation index is obtained based on the test conditions of a cadence of 1~2Hz (60~120 steps per minute) and a cumulative 3 million walks on one side, according to the continuity of the joint structure and the associated data. The continuity of the joint structure is determined by directly observing the integrity and smoothness of the joints of the prosthesis under test 7 after the walking test, thereby realizing an intuitive and accurate assessment of the fatigue resistance of the prosthesis for long-term use.

[0094] The biomimetic index acquisition unit is used to associate the kinematic and mechanical parameters of both sides of the humanoid robot test subject 1. The kinematic parameters include gait phase, joint angle, joint movement velocity, and joint movement angular velocity. The mechanical parameters include ground reaction force, joint force, and joint torque. The gait phase includes at least stride length and stride frequency data. The unit is used to compare the consistency of the kinematic and mechanical parameters of both sides to quantify the biomimetic matching degree of the prosthetic gait and provide data basis for prosthetic adaptation optimization.

[0095] The intelligent and adaptive index acquisition unit is used to acquire the response speed and response degree of the intelligent prosthesis when facing changes in road conditions. The response speed is the time it takes for the kinematic and mechanical parameters of the prosthesis to stabilize after the road condition changes, thereby measuring the intelligent prosthesis's ability to quickly adapt to scene changes. The response degree is the similarity between the gait phase, motion performance, and mechanical performance of the prosthesis and the robot after the parameters stabilize, thereby determining the matching accuracy between the intelligent prosthesis's gait and the human physiological gait after scene switching, and realizing a comprehensive evaluation of the intelligent prosthesis's adaptive control performance.

[0096] Example 1: Fatigue Indicators

[0097] The test subject was a hydraulically adjustable damping knee prosthesis; the test scenario was that the system was configured with a fixed step frequency of 1.5Hz, the load module was loaded with a standard load of 60kg, and the support module used a flat and straight track.

[0098] The implementation process steps are as follows:

[0099] The test was initiated, with the humanoid robot driving the prosthetic unit under test to walk continuously on one side at a step frequency of 1.5Hz, accumulating 3 million walking actions;

[0100] During the test, the force sensor of the mechanical parameter monitoring unit collects joint force and joint torque data of the knee joint in real time, and records the torque fluctuation amplitude after every 500,000 steps.

[0101] After 3 million walks, the test was stopped and the continuity of the prosthetic joint structure was observed:

[0102] Visual inspection: The outer shell of the knee joint has no cracks, and the connectors are not loose or detached;

[0103] Smoothness of movement test: Manual flexion and extension of the knee joint, no jamming or abnormal noise throughout the entire process, and the damping adjustment function responds normally;

[0104] Torque data comparison: After the test, the fluctuation of joint torque increased by 8% compared with the initial stage, which did not exceed the preset threshold of 15%.

[0105] Indicator assessment: The joint structure of the prosthesis is intact and the smoothness of movement is normal. The torque fluctuation range meets the requirements. The fatigue index is qualified and can meet the needs of long-term high-frequency walking.

[0106] Example 2: Bionic Indicators

[0107] The test subject was a four-bar mechanical ankle prosthesis; the test scenario was that the load module was loaded with a 55kg load, the support module used a standard flat walkway, the stride length was preset to 0.6m, and the stride frequency was 1.2Hz.

[0108] The implementation process steps are as follows:

[0109] Inertial sensors are simultaneously deployed at the ankle joint on the healthy side (non-prosthetic side) of the robot and at the prosthetic unit to be tested, and force measuring devices are deployed along the path of the support module.

[0110] Initiate the walking test and simultaneously collect kinematic and biomechanical parameters from both sides:

[0111] Kinematic parameters: The mean flexion angle of the healthy ankle joint was 35°, and that of the prosthetic ankle joint was 33°; the peak angular velocity of the healthy ankle joint was 120° / s, and that of the prosthetic ankle joint was 115° / s.

[0112] Mechanical parameters: Peak ground reaction force on the healthy side is 520 N, and on the prosthetic side it is 510 N; Peak ankle joint torque on the healthy side is 85 N·m, and on the prosthetic side it is 82 N·m.

[0113] Consistency of bilateral parameters: kinematic parameter deviations are all within 5%, and mechanical parameter deviations are all within 4%.

[0114] Indicator assessment: The kinematic and mechanical parameters of the prosthesis are highly consistent with those of the healthy side. The bionic matching degree of gait phase, motor performance and mechanical performance is good. The bionic index is judged to be excellent. After wearing it, a relatively natural walking gait can be achieved.

[0115] Example 3: Intelligence and Adaptability Indicators

[0116] The test subject is a certain intelligent sensing knee prosthesis; the test scenario is that the load module is loaded with a 65kg load, and the support module is configured with a continuous switching path of "flat ground - 15° uphill - flat ground".

[0117] The implementation process steps are as follows:

[0118] The road condition switching sequence is preset. When the robot walks to 5m, the support module automatically switches to a 15° uphill section and returns to flat ground when it walks to 10m.

[0119] During the road condition switching process, parameters such as joint angle and joint torque on the prosthesis side are collected in real time:

[0120] Response speed: The time from switching from road conditions to uphill to the stabilization of prosthetic joint angle and torque is 0.8s, and the time from returning to flat ground to parameter stabilization is 0.7s, both of which do not exceed the preset threshold of 1s;

[0121] Response level: After the parameters stabilized, the joint flexion angle on the prosthesis side when going uphill was 42° (43° on the healthy side), and the joint torque was 90 N·m (92 N·m on the healthy side), with a parameter similarity of more than 95% with the healthy side; after recovery on flat ground, the parameter similarity between the prosthesis side and the healthy side reached 96%.

[0122] Indicator assessment: This intelligent prosthesis responds quickly to changes in road conditions, and after the parameters stabilize, it has a high degree of matching with the gait and force distribution of the healthy side. Its intelligence and adaptability indicators are rated as excellent, and it can adapt to the dynamic walking needs of complex road conditions.

[0123] Secondly, the present invention also provides a method for testing a bionic lower limb robot prosthesis, the method being implemented based on the aforementioned bionic lower limb robot prosthesis testing system, such as... Figure 2 As shown, the method includes the following steps:

[0124] S10: The prosthetic test unit 7 is placed on the humanoid robot test body 1. The prosthetic test unit 7 includes a knee joint, ankle joint or foot module. During assembly, it is necessary to ensure the connection stability between the test unit and the test body to ensure the continuity of movement and the accuracy of data acquisition during subsequent walking tests.

[0125] S20: Configure load module 3 based on the walking test scheme to provide load to the prosthetic test unit 7; during the configuration process, according to the user's weight class and load scenario simulated in the test scheme, select the combination of components such as the humanoid robot upper body, loading chamber, and adjustable counterweight module to accurately match the load parameters and restore the load-bearing state of the prosthesis when it is actually used.

[0126] S30: Configure support module 2 based on the walking test scheme to provide a test route to the humanoid robot test body 1; the support module 2 can be configured as any one or more combined scenarios such as flat ground, circular walkway, turnaround walkway, treadmill, conveyor belt, etc., with or without obstacles and ramps, according to the test requirements, to ensure that the test route accurately matches the actual application conditions of the prosthesis.

[0127] S40: During the walking test, the test parameters of the humanoid robot test body 1 and the prosthetic test unit 7 are monitored in real time through the data acquisition module 4. Among them, kinematic data such as gait phase, joint angle, and joint velocity are obtained through the kinematic parameter monitoring unit, and mechanical data such as joint force, joint torque, and ground reaction force are obtained through the mechanical parameter monitoring unit, so as to provide complete data support for subsequent performance index evaluation.

[0128] S50: Evaluate at least one of the fatigue index, bionic index, and intelligence and adaptability index of the prosthetic unit 7 based on the test parameters. If evaluating the fatigue index, it needs to be determined by combining test data from 3 million single-sided walks at a 1-2 Hz gait frequency and observation results of joint structure continuity; if evaluating the bionic index, it needs to compare the consistency of kinematic and mechanical parameters on both sides of the test subject; if evaluating the intelligence and adaptability index, it needs to calculate the response speed and degree of the intelligent prosthesis when changing road conditions.

[0129] This bionic lower limb robot prosthesis testing method, relying on a supporting testing system, constructs a complete closed-loop testing system from the assembly of the unit under test to the output of performance indicators. It can accurately reproduce the prosthesis usage status of people of different weights and in different walking scenarios. It can simulate diverse road conditions such as flat ground, slopes, and obstacles, and can also match corresponding loads. It breaks through the limitations of traditional testing methods that rely on a fixed single testing environment, making the testing process closer to the real use scenario of the prosthesis and ensuring the practicality and reference value of the test results.

[0130] The performance evaluation steps in this method can be based on multi-dimensional test parameters collected by the S40 test parameters to achieve flexible evaluation of three core indicators: fatigue performance, bionic performance, intelligence, and adaptability. It retains the verification of the basic fatigue performance of prostheses in traditional testing, and adds the determination of gait adaptability by bionic indicators and the evaluation of the response capability of new intelligent prostheses in various scenarios by intelligence and adaptability indicators. This fills the gap in traditional testing methods, which have single indicators and cannot adapt to the testing needs of intelligent prostheses.

[0131] Each step of this method is based on a pre-defined walking test plan, from the standardized assembly of the unit under test to the parameterized configuration of the load and support module 2, and the streamlined execution of data acquisition and index evaluation, forming a complete standardized testing system. Compared with the experience-based operation of traditional testing methods, this method can effectively ensure the consistency and repeatability of testing different batches and types of prostheses, and improve the comparability and accuracy of test results.

[0132] The experimental parameter acquisition step in S40 of this method can simultaneously acquire kinematic and mechanical data, providing a complete data chain for subsequent index evaluation. By establishing a linkage analysis logic of "kinematic parameters-mechanical parameters-performance indicators", it is possible to achieve in-depth analysis of prosthetic performance. For example, it can determine bionics by combining gait phase and joint torque data, and calculate intelligence and adaptability by combining parameter changes during road condition switching, making the performance evaluation more scientific and convincing.

[0133] Thirdly, the present invention also provides a computer program product, including a computer program / instruction that, when executed by a processor, implements the steps of the aforementioned bionic lower limb robot prosthesis testing method.

[0134] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the aforementioned bionic lower limb robot prosthesis testing method. The computer-readable storage medium can be a tangible storage medium, such as random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, floppy disk, hard disk, removable storage disk, CD-ROM, or any other form of storage medium known in the art.

[0135] Those skilled in the art will understand that the exemplary components, systems, and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. Whether implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this invention. When implemented in hardware, it can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the desired tasks. The programs or code segments can be stored in a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried in a carrier wave.

[0136] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0137] In this invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with or in place of features of other embodiments.

[0138] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations of the embodiments of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A bionic lower limb robotic prosthetic testing system, characterized in that, The system includes: a humanoid robot testing body, a load module, a support module, and a data acquisition module; The humanoid robot test body includes at least human lower limb joints to simulate human walking; the human lower limb joints include at least one of knee joints, ankle joints and foot modules, and at least a portion of the human lower limb joints can be replaced with a prosthetic limb test unit so that the humanoid robot test body can drive the prosthetic limb test unit to perform walking tests; The load module is mounted on the humanoid robot test body and is used to provide the prosthetic limb test unit with a target load that matches the walking test scheme. The support module is used to provide a walking path for the humanoid robot test subject to perform walking tests on it; The data acquisition module is used to monitor the test parameters of the prosthetic unit under test during the walking test; the data acquisition module includes: a kinematic parameter monitoring unit, used to acquire at least one of the following data: gait phase, joint angle, joint velocity, and joint acceleration; wherein, the gait phase includes at least stride length and stride frequency data; and a mechanical parameter monitoring unit, used to acquire at least one of the following data: joint force, joint torque, and ground reaction force. The system also includes a data analysis and storage module, which comprises: The fatigue index acquisition unit is used to correlate the gait frequency data collected by the kinematic parameter monitoring unit, the relevant mechanical data collected by the mechanical parameter monitoring unit, and the observation results of joint structure continuity after the walking test. The fatigue evaluation index is obtained based on the test conditions of a gait frequency of 1~2Hz and a cumulative 3 million unilateral walkings, according to the joint structure continuity and correlated data. The joint structure continuity is determined by directly observing the joint integrity and smoothness of movement of the prosthesis under test unit after the walking test. A biomimetic index acquisition unit is used to associate the kinematic and mechanical parameters of both sides of the humanoid robot test subject; the kinematic parameters include gait phase, joint angle, joint motion velocity, and joint motion angular velocity; the mechanical parameters include ground reaction force, joint force, and joint torque; the gait phase includes at least stride length and stride frequency data; and is used to compare the consistency of the kinematic and mechanical parameters of both sides. The intelligent and adaptive index acquisition unit is used to acquire the response speed and response degree of the intelligent prosthesis when facing changes in road conditions. The response speed is the time when the kinematic and mechanical parameters of the prosthesis side tend to stabilize after the road conditions change, and the response degree is the similarity of the gait phase, motion performance and mechanical performance of the prosthesis side and the robot side after the parameters stabilize.

2. The bionic lower limb robot prosthetic testing system according to claim 1, characterized in that, The kinematic parameter monitoring unit includes at least one of the following: An inertial sensing device is installed in the joint of the human lower limb and / or the unit under test of the prosthesis to monitor joint angle, joint velocity and joint acceleration; the inertial sensing device includes a first inertial sensing device installed at the thigh and calf positions on the prosthesis side, and a second inertial sensing device installed at the thigh and calf positions on the robot side. A three-dimensional motion capture device is used to acquire gait phases, joint angles, joint velocities, and joint accelerations through image recognition.

3. The bionic lower limb robot prosthetic testing system according to claim 1, characterized in that, The mechanical parameter monitoring unit includes at least one of the following: A force sensor is installed on the humanoid robot test body near the prosthetic unit under test, for monitoring the joint force and joint torque of the prosthetic unit under test; A pressure sensor located at the bottom of the foot of the prosthetic unit under test, or several force measuring devices located on the support module along a set test path, are used to monitor the ground reaction force.

4. The bionic lower limb robot prosthetic testing system according to claim 1, characterized in that, The load module includes at least one of the following: humanoid robot upper body, loading chamber, loading platform, and adjustable counterweight module.

5. The bionic lower limb robot prosthetic testing system according to claim 1, characterized in that, The support module includes at least one of the following: flat ground with or without obstacles and ramps, circular trails, turnaround trails, treadmills, and conveyor belts.

6. The bionic lower limb robot prosthesis testing system according to claim 1, characterized in that, The system also includes a control module, which comprises: a prosthesis management submodule, a support management submodule, and a test subject management submodule; The prosthesis management submodule is used to manage the information of the prosthesis under test unit. The information of the prosthesis under test unit includes: installation position, damping control method, power type, damping action medium, and structural type. The installation position includes left side, right side, and both sides. The damping control method includes fixed damping, adjustable damping, and intelligent adaptive damping prostheses. The power type includes active prostheses and passive prostheses. The structural type includes single-axis prostheses and multi-link prostheses. The damping action medium type includes pneumatic prostheses, hydraulic prostheses, and magnetorheological prostheses. The multi-link prostheses include four-link prostheses and six-link prostheses. The support management submodule is used to configure and manage the support module, adapt the test plan and detect the hardware information of the support module, and realize the custom configuration of the test path; The test entity management submodule is used to manage the entire test process of the humanoid robot test entity, realizing test process control, operation status monitoring, and key parameter configuration. The test entity management submodule is equipped with a test start / stop control unit, which can output start or stop commands to regulate the start and stop of the entire prosthetic testing process. The test entity management submodule is equipped with an operation status monitoring and fault diagnosis unit, which monitors the operation status of each functional module of the system in real time, and immediately outputs a fault signal and triggers a safety shutdown when an abnormal working condition is detected. The test entity management submodule is equipped with a multi-level parameter configuration and dynamic adjustment unit, which can set step length, step frequency, and loading force parameters in stages and dynamically adjust them during the test.

7. A method for testing a bionic lower limb robot prosthesis, characterized in that, The method is implemented based on the bionic lower limb robot prosthesis testing system as described in any one of claims 1-6, and the method includes the following steps: The prosthetic test unit is mounted on the humanoid robot test body, and the prosthetic test unit includes a knee joint, ankle joint or foot module; The load module is configured based on the walking test scheme to provide load to the prosthetic test unit; The support module is configured based on the walking test scheme to provide a test route to the humanoid robot test subject; During the walking test, the test parameters of the humanoid robot test body and the prosthetic test unit are monitored in real time through the data acquisition module; Based on the test parameters, evaluate at least one of the fatigue index, bionic index, and intelligence and adaptability index of the prosthetic test unit.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method of claim 7.

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