Artificial limb control system and control method for driving knee joint by hip joint

Abstract

The invention belongs to the technical field of medical instruments, and discloses an artificial limb control system and control method for driving a knee joint by a hip joint, and the control system comprises a hip joint curvature acquisition module, a wireless data transmission module, a knee joint driving device and a battery module, the hip joint curvature acquisition module is used for acquiring a bending angle signal of a hip joint in real time, the wireless data transmission module is used for wirelessly transmitting the hip joint angle signal, and the knee joint driving device is used for receiving the hip joint angle signal transmitted by the wireless data transmission module and controlling the movement of the knee joint according to a preset biomechanical model. The knee joint driving device is used for executing a control instruction sent by the knee joint driving device and driving the knee joint to move, and the battery module supplies power to other assemblies. Hip joint angle signals are collected in real time and wirelessly transmitted through the hip joint curvature acquisition module, knee joints are directly driven to move, signal instability and response lag are avoided, control precision and comfort are improved, and the service life of a battery is prolonged.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a prosthetic control system and control method for hip joint driving knee joint. Background Technology

[0002] With the development of intelligent prosthetic technology, traditional prosthetic control systems are gradually transitioning to more intelligent control methods. Existing powered intelligent prostheses typically rely on multiple sensors, such as tilt sensors, acceleration sensors, and pressure sensors, to provide signal input. These sensors control the prosthesis's movements by measuring motion parameters of specific parts of the body. However, these control systems have some limitations in practical use. First, the signals acquired by the sensors are often affected by external environmental interference, leading to low accuracy of the control signals. This can easily cause prosthetic control errors, such as unstable movements or even dangerous situations like falls. Second, most existing control systems cannot accurately reflect the body's natural movement patterns, especially during complex gait transitions, making it difficult to guarantee the smoothness and naturalness of the prosthetic movement.

[0003] Furthermore, many smart prostheses still use wired connections, which significantly restricts the wearer's freedom of movement and comfort. While wireless control systems offer some convenience, existing systems still suffer from issues such as unstable sensor signal transmission and delayed control response, affecting the reliability and practical application of the prostheses.

[0004] Unstable signal: Most existing intelligent prosthetic systems rely on external sensors to acquire human motion signals. However, these sensors are susceptible to interference from environmental factors, leading to unstable signals and affecting the precise control of the prosthesis. Especially during complex or high-speed movements, the signals provided by the sensors may not accurately reflect the true motion state of the human body in a timely manner.

[0005] Unnatural control: Most existing control systems are based on empirical formulas or extrapolated models, rather than being designed based on true human biomechanical relationships. This results in prosthetic movements often not being fully synchronized with the body's natural movements, leading to poor smoothness and naturalness of prosthetic movements and causing discomfort to the user.

[0006] Limited freedom of movement: Many prosthetic control systems still use wired connections, which greatly limits the wearer's freedom of movement, making it impossible to adapt to more complex activity scenarios and affecting the wearer's daily life and motor skills.

[0007] Lagging and inaccurate response: Although existing wireless control systems have certain advantages, their control response is often lagging and cannot achieve real-time and precise control. Especially when gait changes rapidly, it can easily lead to loss of control or delay in prosthetic movements. Summary of the Invention

[0008] This invention provides a prosthetic control system and control method for hip joint-driven knee joint, in order to solve the existing technical problems.

[0009] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows: A hip-driven knee joint prosthetic control system includes a hip flexion acquisition module, a wireless data transmission module, a knee joint drive device, and a battery module. The hip flexion acquisition module is used to collect the flexion angle signal of the hip joint in real time. The wireless data transmission module is connected to the hip flexion acquisition module and is used to wirelessly transmit the hip joint angle signal. The knee joint drive device receives the hip joint angle signal transmitted by the wireless data transmission module and controls the movement of the knee joint according to a preset biomechanical model. The knee joint drive device is used to execute the control commands issued by the knee joint drive device and drive the knee joint movement. The battery module supplies power to the hip flexion acquisition module, the wireless data transmission module, the knee joint drive device, and the knee joint drive device. The hip flexion acquisition module uses a magnetic encoder to acquire real-time angle data of the hip joint and sends the angle data to the knee joint drive device through wireless transmission technology to control the movement of the knee joint.

[0010] As a further improvement to the above technical solution: The knee joint drive device is based on a human kinematics model. It calculates the target angle that the knee joint should perform by using real-time hip joint angle data, and drives the knee joint drive device to move by using control commands.

[0011] The knee joint drive device includes an upper joint head, a damping cylinder, a bracket, and a lower joint head. The bracket is equipped with a meshing drive gear, an intermediate gear, and a drive motor. The input shaft of the drive gear is connected to the output shaft of the drive motor. The rotation shaft of the damping cylinder is connected to a cylinder gear, which meshes with the intermediate gear. The upper joint head is connected to the damping cylinder, and the lower joint head is connected to the bracket.

[0012] The bracket is equipped with a push rod motor, a connecting strip, and a valve stem. The extension rod of the push rod motor is connected to the valve stem through the connecting strip, and the extension and retraction of the push rod motor drives the valve stem to extend and retract up and down. The damping cylinder is equipped with an oil control valve core. The valve stem is connected to the oil port of the oil control valve core and controls the opening size of the oil port.

[0013] The oil control valve core is equipped with a one-way valve, which closes when the oil control valve core discharges oil and opens when the oil control valve core draws in oil.

[0014] The bracket contains a main control board and a pressure sensor, and the main control board is connected to the pressure sensor, the drive motor and the push rod motor.

[0015] A method for controlling a hip-joint-driven knee joint prosthesis, applied to the hip-joint-driven knee joint prosthesis control system, includes the following steps: S1. The hip flexion acquisition module collects hip flexion angle data in real time; S2. Transmit the hip joint angle data to the knee joint drive device via a wireless data transmission module; S3. The knee joint drive device calculates the target angle that the knee joint should perform based on the hip joint angle data and the preset biomechanical model; S4. Control the knee joint drive device to drive the knee joint movement according to the calculated target angle.

[0016] After receiving hip joint angle data, the knee joint drive device makes dynamic adjustments through a feedback control algorithm.

[0017] The hip-driven knee joint prosthesis control system is controlled by data acquired from a wearable hip joint angle sensor.

[0018] The knee joint drive device is a servo motor drive device.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: The system acquires real-time hip flexion angle signals via a hip flexion acquisition module and wirelessly transmits these signals to the knee joint drive device via a wireless data transmission module, thereby achieving precise knee joint control. Compared to existing technologies, this system directly drives knee joint movement through hip joint motion signals, avoiding the problems of unstable sensor signals and lag in control response found in traditional methods. This allows for a more natural simulation of human biomechanical movement. Furthermore, the use of low-power wireless transmission technology effectively extends the battery module's lifespan, and the magnetic encoder used to acquire hip joint angle data in real time ensures high precision and stability, further improving the prosthesis's control performance and comfort, and addressing the shortcomings of traditional prosthetic systems in terms of control precision and comfort. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is the hip flexion acquisition module; Figure 2 One embodiment is a knee joint drive device in a prosthesis; Figure 3 In another embodiment, it is a knee joint drive device in a prosthesis; Figure 4 yes Figure 3 Internal structure diagram Figure 1 ; Figure 5 yes Figure 3 Internal structure diagram Figure 2 .

[0022] Legend: 1. Hip joint flexion acquisition module; 2. Knee joint drive device; 21. Upper joint head; 22. Damping cylinder; 221. Rotary shaft; 222. Cylinder gear; 223. Oil control valve core; 2231. Check valve; 23. Bracket; 231. Drive gear; 232. Intermediate gear; 233. Drive motor; 234. Push rod motor; 2341. Telescopic rod; 235. Connecting bar; 236. Valve stem; 237. Main control board; 238. Pressure sensor; 24. Lower joint head; 3. Battery module. Detailed Implementation

[0023] To facilitate understanding of the present invention, the present invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of protection of the present invention is not limited to the following specific embodiments.

[0024] Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by those skilled in the art. The technical terms used herein are for the purpose of describing particular embodiments only and are not intended to limit the scope of the invention.

[0025] Unless otherwise specified, all raw materials, reagents, instruments and equipment used in this invention can be purchased from the market or prepared by existing methods.

[0026] Example: Figures 1-5As shown, the hip-driven knee joint prosthetic control system of this embodiment includes a hip joint flexion angle acquisition module 1, a wireless data transmission module, a knee joint drive device 2, and a battery module 3. The hip joint flexion angle acquisition module 1 is used to collect the flexion angle signal of the hip joint in real time. The wireless data transmission module is connected to the hip joint flexion angle acquisition module 1 and is used to wirelessly transmit the hip joint angle signal. The knee joint drive device 2 receives the hip joint angle signal transmitted by the wireless data transmission module and controls the movement of the knee joint according to a preset biomechanical model. The knee joint drive device 2 is used to execute the control commands issued by the knee joint drive device 2 and drive the knee joint movement. The battery module 3 supplies power to the hip joint flexion angle acquisition module 1, the wireless data transmission module, the knee joint drive device 2, and the knee joint drive device 2. The hip joint flexion angle acquisition module 1 uses a magnetic encoder to acquire real-time angle data of the hip joint and sends the angle data to the knee joint drive device 2 through wireless transmission technology to control the movement of the knee joint. By acquiring the flexion angle signal of the hip joint in real time through the hip joint flexion angle acquisition module 1 and wirelessly transmitting the signal to the knee joint drive device 2 through the wireless data transmission module, precise control of the knee joint is achieved. Compared to existing technologies, this system directly drives knee joint movement through hip joint motion signals, avoiding the problems of unstable sensor signals and lag in control response in traditional systems. This allows for a more natural simulation of human biomechanical movement. Furthermore, the use of low-power wireless transmission technology effectively extends the lifespan of battery module 3, and the magnetic encoder used to acquire hip joint angle data in real time ensures high precision and stability, further improving the control performance and comfort of the prosthesis and addressing the shortcomings of traditional prosthetic systems in terms of control precision and comfort.

[0027] In this embodiment, the knee joint drive device 2 is based on a human kinematics model. It calculates the target angle the knee joint should perform using real-time hip joint angle data and drives the knee joint drive device 2 to move via control commands. This effectively solves the problem of asynchronous or inaccurate control between knee and hip joint movements in traditional prosthetic control systems. By incorporating human biomechanical relationships, this system can more naturally simulate the human gait, ensuring the smoothness and stability of knee joint movement. Compared to empirical formulas or simplified models in existing technologies, this method achieves more precise control, improves the comfort and safety of the prosthesis, and makes the prosthesis's movement more consistent with the natural movement patterns of the human body.

[0028] In this embodiment, the knee joint drive device 2 includes an upper joint head 21, a damping cylinder 22, a bracket 23, and a lower joint head 24. The bracket 23 houses a meshing drive gear 231, an intermediate gear 232, and a drive motor 233. The input shaft of the drive gear 231 is connected to the output shaft of the drive motor 233. The rotary shaft 221 of the damping cylinder 22 is connected to a cylinder gear 222, which meshes with the intermediate gear 232. The upper joint head 21 is connected to the damping cylinder 22, and the lower joint head 24 is connected to the bracket 23. The drive motor 233 drives the drive gear 231, which, through the meshing of the intermediate gear 232 and the cylinder gear 222, transmits power stably to the rotary shaft 221 of the damping cylinder 22, achieving precise control of the knee joint movement. Simultaneously, the connection between the upper joint head 21 and the damping cylinder 22, and the connection between the lower joint head 24 and the bracket 23, forms a compact and rationally designed overall mechanism layout. This gear meshing transmission structure boasts high transmission efficiency and fast response speed, effectively reducing the asynchronous movement problems caused by signal lag or unstable power transmission in traditional control systems. Combined with the buffering characteristics of the damping cylinder, it makes the knee joint more stable during drive, effectively improving the smoothness and stability of movement, thus better conforming to the natural gait of the human body and solving the problems of unnatural control, lag response, and insufficient stability in the prior art. By setting a push rod motor 234 in the bracket 23, and using its telescopic rod 2341 to drive the valve rod 236 up and down via the connecting strip 235, the opening of the oil port of the oil control valve core 223 in the damping cylinder 22 is precisely adjusted, realizing active control of the oil flow. This structure makes the knee joint damping no longer dependent on passive changes, but can be adjusted in real time according to control commands, effectively improving the response speed and control accuracy of damping adjustment, reducing impact and vibration during movement, enhancing the smoothness and controllability of knee joint movement, thereby improving the problems of inaccurate control, lag response, and unsmooth movement in the prior art, making prosthetic movement more natural and safe.

[0029] In this embodiment, the bracket 23 is equipped with a push rod motor 234, a connecting strip 235 and a valve stem 236. The telescopic rod 2341 of the push rod motor 234 is connected to the valve stem 236 through the connecting strip 235, and drives the valve stem 236 to extend and retract up and down through its extension and retraction. The damping cylinder 22 is equipped with an oil control valve core 223. The valve stem 236 is connected to the oil port of the oil control valve core 223 and controls the opening size of the oil port.

[0030] In this embodiment, the oil control valve core 223 is equipped with a one-way valve 2231. The one-way valve 2231 closes when the oil control valve core 223 discharges oil and opens when the oil control valve core 223 draws in oil. This effectively controls the flow direction of the oil, avoiding interference from reverse oil flow on the knee joint damping system, thereby ensuring the stability of knee joint movement and precise control of the damping effect. Compared with traditional control systems, the use of the one-way valve improves the reliability and responsiveness of the cylinder system, helps to further reduce instability factors of the damping cylinder during movement, solves the problems of inaccurate damping adjustment and response lag in the prior art, and makes the prosthesis movement smoother and more natural.

[0031] In this embodiment, the support 23 houses a main control board 231 and a pressure sensor 232. The main control board 231 is connected to the pressure sensor 232, the drive motor 233, and the push rod motor 234. This effectively solves the problems of unstable signal transmission and delayed control response in traditional prosthetic control systems. By monitoring the knee joint's movement status in real time through the pressure sensor 232, the main control board 231 can dynamically adjust and provide feedback control based on the real-time data, ensuring more precise and smooth knee joint movements. Furthermore, the combination of the pressure sensor and the main control board allows for precise optimization of knee joint damping adjustment and motion control, improving the stability and comfort of the prosthetic system and avoiding control errors caused by signal lag or instability.

[0032] Figure 1 The hip flexion acquisition module shown can be used with Figure 2 The knee joint drive device shown can also be combined with Figures 3-5 The knee joint drive unit shown is a combination of various configurations. This flexible combination fully demonstrates the system's scalability and adaptability. The hip flexion acquisition module collects real-time hip flexion angle data and transmits the data to the knee joint drive unit via a wireless data transmission module. Whether... Figure 2 The knee joint drive mechanism in the middle, or Figures 3-5 Different implementation structures can precisely control the knee joint based on the received hip joint angle signal, ensuring the coordination and smoothness of knee joint movement. In this way, regardless of the type of knee joint drive device, more natural and stable prosthetic control can be achieved through the motion signals of the hip joint.

[0033] In this embodiment, the wireless data transmission module adopts a 2.4G wireless communication module. It is a Si24R1 module from Jixin Microelectronics, supporting low-power data transmission, effectively extending battery life, and offering advantages such as low power consumption and high transmission stability. Compared with traditional wired or other wireless communication technologies, the 2.4G wireless communication module can effectively reduce device power consumption and extend the lifespan of battery module 3. Simultaneously, the 2.4G frequency band has better anti-interference capabilities and a longer transmission distance, ensuring stable and real-time data transmission between the hip joint flexion acquisition module 1 and the knee joint drive device 2, avoiding signal loss or delay issues, thereby improving the reliability and response speed of the prosthetic control system.

[0034] In this embodiment, the magnetic encoder is model AS5048A. It features a standard SPI interface, 14-bit high resolution, and 360-degree full-angle measurement, enabling precise acquisition of real-time hip joint flexion angle data. Compared to traditional angle sensors, the AS5048A magnetic encoder provides higher angle accuracy and more stable performance, effectively avoiding errors that may occur with traditional sensors in highly dynamic or complex environments. This high-precision data acquisition capability ensures that the knee joint drive device 2 can make precise controls based on accurate hip joint angle information, improving the overall performance of the prosthetic control system and guaranteeing the naturalness and reliability of prosthetic movements.

[0035] In this embodiment, the battery module is equipped with a voltage regulator chip. The 500mA lithium battery has high energy density and a long service life, providing a continuous and stable power supply to the system. Simultaneously, the addition of the voltage regulator chip ensures the stability of the battery output voltage, avoiding the impact of voltage fluctuations on system performance and guaranteeing the normal operation of components such as the hip flexion acquisition module 1, the wireless data transmission module, and the knee joint drive device 2. Furthermore, the voltage regulator chip design helps improve the overall energy efficiency of the system, extends battery life, thereby reducing the need for frequent charging and enhancing the user experience.

[0036] This embodiment of the hip-driven knee joint prosthesis control method is applied to a hip-driven knee joint prosthesis control system, and includes the following steps: S1. The hip joint flexion acquisition module 1 collects the flexion angle data of the hip joint in real time; S2. The hip joint angle data is transmitted to the knee joint drive device 2 via a wireless data transmission module; S3. The knee joint drive device 2 calculates the target angle that the knee joint should perform based on the hip joint angle data and a preset biomechanical model; S4. The knee joint drive device 2 is controlled to drive the knee joint movement according to the calculated target angle. By controlling the precise movement of the knee joint through the motion signal of the hip joint, more natural and coordinated gait control is achieved, solving the problem of unsmooth movement caused by unstable sensor signals or lag in control response in the prior art. By combining the biomechanical model, the system can dynamically calculate the target angle of the knee joint in real time based on the motion state of the hip joint, ensuring the smoothness and stability of the prosthesis movement, and improving the reliability of the prosthesis control system and the user experience.

[0037] In this embodiment, after receiving hip joint angle data, the knee joint drive device 2 dynamically adjusts itself using a feedback control algorithm. This algorithm adjusts the target angle and motion control commands of the knee joint in real time based on the received hip joint angle data and the actual movement state of the knee joint. Through this dynamic adjustment mechanism, the knee joint can quickly adapt to changes in different states and movement patterns, thereby achieving more precise and smooth motion control. Compared to traditional fixed models or preset control schemes, this feedback control algorithm can automatically optimize the motion process according to the actual situation, avoiding the problem of accumulated control errors, improving the naturalness and stability of prosthetic movement, and greatly enhancing the user's comfort and safety.

[0038] In this embodiment, the hip-driven knee joint prosthetic control system utilizes data acquired by a wearable hip joint angle sensor. Unlike traditional prosthetic systems that typically mount sensors directly onto the prosthesis itself, this system uses a wearable sensor to directly acquire hip joint motion data, avoiding inaccurate or unstable data caused by improper sensor placement or inconvenient wearing. By acquiring hip joint angle information in real time, the system can more accurately simulate natural human movement, achieving synchronized knee joint control and providing a more comfortable and fluid prosthetic motion experience. This design effectively improves the biomechanical adaptability of the prosthesis and user comfort, while also enhancing the prosthesis's reliability and stability.

[0039] In this embodiment, the knee joint drive device 2 is a servo motor drive device. The servo motor has high-precision angle control capabilities, enabling it to precisely adjust the knee joint angle according to the instructions from the knee joint control module. Compared to traditional electric drive systems, servo motors offer higher response speeds and more refined motion control, resulting in smoother and more stable knee joint movement. Furthermore, the closed-loop control characteristics of the servo motor allow for real-time adjustment of the motion state, ensuring accuracy and stability during knee joint movement and avoiding problems such as overshoot and vibration that may occur in traditional prosthetic control, thereby improving the comfort and safety of the prosthesis.

[0040] This embodiment also includes a controller MCU, specifically the SMT32L071CZT6 low-power MCU, whose standby current reaches the microamp level, enabling long-term standby without excessive battery drain. The magnetic encoder angle acquisition module contains ferromagnetic elements that can identify the hip joint flexion angle and transmit the information to the controller MCU. The wireless data transmission module connects to the controller MCU and transmits data wirelessly to the knee joint control system, thereby achieving precise knee joint motion control. The hip joint flexion acquisition module 1 includes a housing, a power module, an angle sensor, a main control chip, a wireless data transmission module, and a swing arm structure. The housing houses all electronic components and has a Type-C charging port for easy charging and data transmission. The power module consists of a battery and a voltage regulator chip, providing stable power to the system. The angle sensor detects the swing angle of the hip joint swing arm in real time, while the main control chip receives the angle signal and calculates the swing arm's motion state using a low-power design, generating control commands. The wireless data transmission module wirelessly transmits the calculated motion data to the knee joint actuator for precise control. The swing arm structure connects to the hip joint, and as the hip moves, an angle sensor continuously monitors and feeds data back to the controller MCU. This device intelligently controls the knee joint using wireless technology by monitoring hip joint movement in real time, enabling more natural and fluid prosthetic movement.

Claims

1. A prosthetic control system for a hip joint driving a knee joint, characterized in that, The device includes a hip flexion acquisition module (1), a wireless data transmission module, a knee joint drive device (2), and a battery module (3). The hip flexion acquisition module (1) is used to collect the flexion angle signal of the hip joint in real time. The wireless data transmission module is connected to the hip flexion acquisition module (1) and is used to wirelessly transmit the hip joint angle signal. The knee joint drive device (2) receives the hip joint angle signal transmitted by the wireless data transmission module and controls the movement of the knee joint according to a preset biomechanical model. The knee joint drive device (2) is used to execute the control commands issued by the knee joint drive device (2) and drive the knee joint to move. The battery module (3) supplies power to the hip flexion acquisition module (1), the wireless data transmission module, the knee joint drive device (2), and the knee joint drive device (2). The hip flexion acquisition module (1) uses a magnetic encoder to acquire the real-time angle data of the hip joint and sends the angle data to the knee joint drive device (2) through wireless transmission technology to control the movement of the knee joint.

2. The hip joint-driven knee joint prosthetic control system according to claim 1, characterized in that, The knee joint drive device (2) is based on the human kinematics model. It calculates the target angle that the knee joint should perform by using real-time hip joint angle data, and drives the knee joint drive device (2) to move by using control commands.

3. The hip joint-driven knee joint prosthetic control system according to claim 2, characterized in that, The knee joint drive device (2) includes an upper joint head (21), a damping cylinder (22), a bracket (23), and a lower joint head (24). The bracket (23) is provided with a meshing drive gear (231), an intermediate gear (232), and a drive motor (233). The input shaft of the drive gear (231) is connected to the output shaft of the drive motor (233). The rotary shaft (221) of the damping cylinder (22) is connected to a cylinder gear (222). The cylinder gear (222) is meshed with the intermediate gear (232). The upper joint head (21) is connected to the damping cylinder (22), and the lower joint head (24) is connected to the bracket (23).

4. The hip joint-driven knee joint prosthetic control system according to claim 3, characterized in that, The bracket (23) is equipped with a push rod motor (234), a connecting strip (235) and a valve stem (236). The telescopic rod (2341) of the push rod motor (234) is connected to the valve stem (236) through the connecting strip (235), and drives the valve stem (236) to extend and retract up and down through its extension and retraction. The damping cylinder (22) is equipped with an oil control valve core (223). The valve stem (236) is connected to the oil port of the oil control valve core (223) and controls the opening size of the oil port.

5. The hip joint-driven knee joint prosthetic control system according to claim 4, characterized in that, The oil control valve core (223) is equipped with a one-way valve (2231), which closes when the oil control valve core (223) discharges oil and opens when the oil control valve core (223) draws in oil.

6. The hip joint-driven knee joint prosthetic control system according to claim 5, characterized in that, The bracket (23) is equipped with a main control board (237) and a pressure sensor (238). The main control board (237) is connected to the pressure sensor (238), the drive motor (233), and the push rod motor (234).

7. The method for controlling a prosthesis driven by a hip joint according to any one of claims 1-6, applied to the prosthesis control system for a hip joint driven by a knee joint according to claim 1, characterized in that, Includes the following steps: S1. Hip joint flexion acquisition module (1) Real-time acquisition of hip joint flexion angle data; S2. Transmit the hip joint angle data to the knee joint drive device (2) via the wireless data transmission module; S3. Knee joint drive device (2) Calculates the target angle that the knee joint should perform based on hip joint angle data and a preset biomechanical model; S4. Control the knee joint drive device (2) Drive the knee joint movement according to the calculated target angle.

8. The method for controlling a prosthesis with a hip joint driving a knee joint according to claim 7, characterized in that, After receiving hip joint angle data, the knee joint drive device (2) makes dynamic adjustments through a feedback control algorithm.

9. The method for controlling a prosthesis with a hip joint driving a knee joint according to claim 8, characterized in that, The hip-driven knee joint prosthesis control system is controlled by data acquired from a wearable hip joint angle sensor.

10. The method for controlling a prosthesis with a hip joint driving a knee joint according to claim 9, characterized in that, The knee joint drive device (2) is a servo motor drive device.

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