CN111588522B

CN111588522B - Knee joint artificial limb testing device and testing method based on industrial robot

Info

Publication number: CN111588522B
Application number: CN202010472089.7A
Authority: CN
Inventors: 任雷; 王同建; 付德龙; 刘春宝; 陈秋
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2021-07-20
Anticipated expiration: 2040-05-29
Also published as: CN111588522A

Abstract

The invention belongs to the technical field of artificial limb testing, and particularly relates to a knee joint artificial limb testing device and a knee joint artificial limb testing method based on an industrial robot; the device comprises an industrial robot, a bionic thigh and a ground reaction module; this artificial limb testing arrangement, through the motion of the incomplete limb of simulation knee joint amputation patient in a gait cycle, can realize different speed level walking, go up the downhill path, the artificial limb test under the environment such as going up and down stairs to can adjust the ground counter-force that the artificial limb foot received, ground counter-force input in the artificial limb test process is more accurate, for the intelligent knee joint of equipment at the interface provides accurate test environment, and because industrial robot's use, this kind of test system uses more conveniently, nimble, the structure is simpler.

Description

Knee joint artificial limb testing device and testing method based on industrial robot

Technical Field

The invention belongs to the technical field of artificial limb testing, and particularly relates to a knee joint artificial limb testing device and a knee joint artificial limb testing method based on an industrial robot.

Background

At present, intelligent artificial limbs with the functions of going down stairs, going up and down slopes, sitting up and switching, walking quickly and the like are developed rapidly, but equipment for testing the performance of the artificial limbs is few, most artificial limb research and development institutions still adopt a method for recruiting amputees to wear artificial limb samples to test the artificial limbs, the design and manufacture of the intelligent artificial limbs are different from that of traditional passive mechanical artificial limbs, the intelligent artificial limbs are often complex electromechanical devices integrating machines, electricity or machines, electricity and liquid, and the traditional testing method is difficult to be superior to the testing of the intelligent artificial limbs.

Firstly, only a limited number of testees can be recruited for the test of a prosthesis, and the working conditions capable of testing are limited; secondly, the development of the intelligent artificial limb is more important than the development of a mechanical structure, and because of the reasons of newly developed product functions or incomplete control algorithm and the like, danger is easily brought to a testee; thirdly, the testee can quickly enter a fatigue state during the test, and the same input is difficult to ensure all the time when the artificial limb works, so that the accuracy of the test data is reduced; finally, traditional prosthetic limb tests require mature products to perform the test, and also require specialized recipient manufacturing for the subject, with long test cycles, requiring extensive rework if there are inappropriate places in the design.

At present, few devices are used for development and performance test of intelligent knee joint artificial limbs, no ground reaction control function is provided, the test of environments such as ascending and descending, ascending and descending stairs and the like cannot be realized, and the walking gait of a normal person is difficult to be really simulated, so that the artificial knee joint test device capable of simulating the walking gait of the normal person is urgently needed.

Disclosure of Invention

In order to overcome the problems, the invention provides a knee joint artificial limb testing device and a testing method based on an industrial robot, which are used for testing the gait of simulating the normal walking, the ascending and descending of stairs, the ascending and descending of slopes, the sitting and rising conversion and the like of a human body aiming at a lower artificial limb; the multifunctional intelligent lower limb artificial limb is designed according to the proportion of the height and the body of a normal human body, the movement of a hip joint when a human walks horizontally at a constant speed, ascends and descends a slope and walks upstairs and downstairs is simulated, and meanwhile, the servo motor and the ball screw mechanism are used for actively adjusting the foot of the artificial limb to provide ground reaction, so that the horizontal constant-speed walking test, the slope walking test and the upstairs and downstairs walking test of the artificial limb can be realized.

A knee joint artificial limb testing device based on an industrial robot comprises an industrial robot 1 with six degrees of freedom, a bionic thigh 2 and a ground reaction module 3, wherein the industrial robot 1 and the ground reaction module 3 are both fixed on the ground, the industrial robot 1 is arranged behind the ground reaction module 3, and the bionic thigh 2 is connected at an interface of the industrial robot 1;

the bionic thigh 2 comprises a connecting frame 201, a thigh frame 202, an adjusting screw mounting plate 203, an adjusting screw 204 and a prosthetic leg connecting disc 205, wherein one end of the connecting frame 201 is fixed at an interface of the industrial robot 1, the other end of the connecting frame is fixedly connected with the thigh frame 202, the adjusting screw mounting plate 203 is fixed at the bottom of the thigh frame 202, the adjusting screw 204 is selectively fixed on the adjusting screw mounting plate 203, the prosthetic leg connecting disc 205 is fixed at the bottom end of the adjusting screw 204, and bolt holes which are uniformly distributed and used for being connected with prosthetic bolts are formed in the periphery of the prosthetic leg connecting disc 205;

the ground reaction force module 3 comprises a frame 301 capable of adjusting angles, a supporting seat mounting plate 302, a servo motor 305, a mounting plate 306, a force measuring mounting plate 309, a force measuring plate 310, a slideway, a ball screw mechanism, a tension and compression sensor 311 and an L-shaped connecting seat 314, wherein the mounting plate 306 is fixed on the frame 301, the frame 301 is fixed on the ground, the bottom of the mounting plate 306 is provided with the servo motor 305, the servo motor 305 is connected with a screw rod end at the bottom end of the ball screw mechanism through a coupler 307, the two ends above the mounting plate 306 are respectively provided with the slideway, the supporting seat mounting plate 302 is fixedly connected on the slideway at one side of the mounting plate 306, the ball screw mechanism is fixed on the supporting seat mounting plate 302, an L-shaped connecting seat 314 is fixed on a screw rod nut seat of the ball screw mechanism, the tension and compression sensor 311 is fixedly connected on the L-shaped connecting seat 314, the two ends of the force measuring mounting plate 309 are respectively movably connected on the slideways arranged at the two ends of the mounting plate 306, can slide up and down along the slide way, the force measurement mounting plate 309 is also fixedly connected with the tension and compression sensor 311, and the force measurement plate 310 is fixed on the force measurement mounting plate 309.

The slide way of the ground reaction module 3 comprises mounting rods 308 and guide rails 313, wherein the mounting rods 308 are respectively fixed at two ends of the mounting plate 306, each mounting rod 308 is fixed with a guide rail 313 with a guide rail slider 312, and the mounting rod 308 at one end of the mounting plate 306 is fixedly connected with a supporting seat mounting plate 302.

The ball screw mechanism of the ground reaction module 3 comprises a screw rod supporting seat 303, a screw rod 317, a screw rod nut 315 and a screw rod nut seat 316, wherein a servo motor 305 is connected with one end of the screw rod 317 through a coupler 307, two ends of the screw rod 317 are respectively fixed on a supporting seat mounting plate 302 through the screw rod supporting seat 303, the screw rod nut seat (316) is mounted on the screw rod (317) through a screw rod nut (315), an L-shaped connecting seat 314 is fixed on the screw rod nut seat 316, and two ends of a force measuring mounting plate 309 are respectively fixed on guide rail sliding blocks 312 of slideways at two ends of the mounting plate 306.

The frame 301 comprises four vertical rods and two horizontal rods, wherein the vertical rods are fixed on the ground, two sides of the mounting plate 306 are respectively fixed on the two horizontal rods, and each horizontal rod is connected to the two vertical rods on one side of the frame 301 through a steering connecting disc 304.

Above-mentioned knee joint artificial limb testing arrangement can realize the horizontal walking at the uniform velocity of artificial limb, and the ramp walking is gone up and down the test of stair, and the utensil is:

the tested artificial limb is tested in a flat ground uniform walking state:

step one, fixing a tested artificial limb on an artificial limb connecting disc 205 of a bionic thigh 2, and adjusting the bionic thigh 2 to a corresponding angle according to different lengths of the tested artificial limb, so that the foot of the tested artificial limb is in a working state that the heel touches the ground and the knee joint extends straight and extends forwards, and the tested artificial limb in the state is at an initial position of a gait cycle;

secondly, the industrial robot 1 drives the bionic thigh 2 to move, and further drives the tested artificial limb to move, so that the ground reaction module 3 is positioned below the foot of the tested artificial limb, the force measuring plate 310 of the ground reaction module 3 is contacted with the heel of the foot of the tested artificial limb, and the knee joint artificial limb testing device in the state is positioned at the corresponding position when the tested artificial limb is positioned at the initial position of a gait cycle;

step three, starting from the initial position of the gait cycle of the prosthesis to be tested, firstly entering a supporting phase, when the prosthesis to be tested is in the supporting phase, the industrial robot 1 drives the bionic thigh 2 to perform the action of the supporting phase, namely swinging backwards and forwards in a sagittal plane according to the angular velocity of the human body movement, the prosthesis to be tested arranged on the bionic thigh 2 also starts to work, namely the prosthesis to be tested correspondingly moves according to the action of the human body in the supporting phase to simulate the knee joint movement of the human body when the human body normally walks horizontally, meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal and vertical directions, under the cooperative work of the ground reaction module 3 and the industrial robot 1, the force measuring plate 310 is always contacted with the foot of the prosthesis to be tested, and the ball screw mechanism of the ground reaction module 3 adjusts the damping force of the prosthesis to be tested when the prosthesis works by adjusting the working height of the force measuring plate 310, further adjusting the ground reaction force applied to the tested prosthetic foot to ensure that the ground reaction force applied to the tested prosthetic foot in the supporting phase process is consistent with the ground reaction force applied to the foot when a normal human body walks;

the contact of the heel of the tested artificial limb foot with the force measuring plate 310 is changed into the contact of the whole sole with the force measuring plate 310, then the contact of the toe is changed into the contact with the force measuring plate 310, when the toe of the tested artificial limb foot is separated from the force measuring plate 310, the supporting phase is finished, and the swing phase is entered;

when the artificial limb swings in the sagittal plane, the artificial limb to be tested correspondingly moves according to the motion of the human body in the swing phase, the industrial robot 1 also drives the bionic thigh 2 to translate in the horizontal direction and the vertical direction, when the swing phase motion is finished, the artificial limb to be tested returns to the initial position of the gait cycle, namely, the heel of the foot of the tested artificial limb is contacted with the force measuring plate 310, the industrial robot 1 also drives the bionic thigh 2 to move to the corresponding position when the tested artificial limb is at the initial position of the gait cycle, simultaneously, the force measuring plate 310 of the reaction force module 3 returns to the corresponding position when the tested artificial limb is at the initial position of the gait cycle, the swing phase is finished, and (4) finishing the gait cycle, starting the next gait cycle, and repeating the step three in such a way to simulate the working state of the tested artificial limb when the human walks continuously.

When the tested artificial limb is used for the slope walking test:

firstly, constructing a ramp: adjusting the angle of the frame 301, so that the mounting plate 306 tilts accordingly to generate a required test angle, and the construction of the ramp is completed;

fixing the tested artificial limb on the artificial limb connecting disc 205 of the bionic thigh 2, adjusting the bionic thigh 2 to form an angle of 50-70 degrees with the mounting plate 306 according to different lengths of the tested artificial limb, and adjusting the tested artificial limb to the initial position of the up-down slope gait cycle, namely, the knee joint of the tested artificial limb extends straight and extends forwards, and the foot of the tested artificial limb is in a working state of heel-touching;

step three, the industrial robot 1 drives the bionic thigh 2, so that the ground reaction module 3 is positioned below the foot of the tested artificial limb, and the force measuring plate 310 of the ground reaction module 3 is contacted with the heel of the foot of the tested artificial limb, and the state is the corresponding position of the artificial limb knee joint testing device when the tested artificial limb is at the initial position of the up-down slope gait cycle;

step four, starting from the initial position of the gait cycle of the artificial limb to be tested on the uphill slope and the downhill slope, firstly entering a supporting phase, driving the bionic thigh 2 to perform the action of the supporting phase by the industrial robot 1 when the artificial limb to be tested is in the supporting phase, namely, the artificial limb to be tested swings backwards and forwards in a sagittal plane according to the angular velocity of the movement of the human body, the artificial limb to be tested correspondingly moves according to the movement of the supporting phase of the human body when the human body goes up and down the slope, and meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction and the vertical direction, under the cooperative work of the ground reaction force module 3 and the industrial robot 1, the force measuring plate 310 is ensured to be always contacted with the foot of the tested artificial limb, and the ball screw mechanism of the ground reaction force module 3 adjusts the damping force of the tested artificial limb during working by adjusting the working height of the force measuring plate 310, further, the ground reaction force borne by the tested artificial limb foot is adjusted, and the ground reaction force borne by the tested artificial limb foot is consistent with the ground reaction force borne by a normal person when the normal person goes up and down a slope; the industrial robot 1 drives the bionic thigh 2 to move, the force measuring plate 310 of the ground reaction force module 3 is kept below the foot of the tested artificial limb all the time, the foot of the tested artificial limb is always stepped on the force measuring plate 310, the whole process that the foot of the tested artificial limb is contacted with the force measuring plate 310 from the heel to the whole sole, then the foot tip is contacted with the force measuring plate 310, and the support phase is finished when the force measuring plate 310 is separated from the foot of the tested artificial limb, and the support phase enters the swing phase;

when the artificial limb is in the swing phase, the industrial robot 1 drives the bionic thigh 2 to perform the swing phase motion, namely, the artificial limb swings forwards in a sagittal plane according to the angular velocity of the motion of the human body, the tested artificial limb correspondingly moves according to the motion of the swing phase when the human body moves up and down slopes, meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction and the vertical direction, when the swing phase motion is finished, the tested artificial limb returns to the initial position of the gait cycle of the up-and-down slopes, the industrial robot 1 drives the bionic thigh 2 to move to the corresponding position when the tested artificial limb is at the initial position of the gait cycle of the up-and-down slopes, the force measuring plate 310 is also driven by the ball screw mechanism of the ground reaction module 3 to the corresponding position when the tested artificial limb is at the initial position of the gait cycle of the up-and-down slopes, and when the tested artificial limb completes the swing phase motion, the foot of the tested artificial limb also moves to the initial position of the gait cycle of the up-and the down slopes, namely, the heel of the tested artificial limb is in contact with the force measuring plate 310, and (4) finishing the swing phase, finishing the gait cycle, starting the next gait cycle, and repeating the step four to simulate the working state of the tested fake limb when the human walks on the slope.

When the tested artificial limb is tested in going upstairs:

fixing a tested artificial limb on an artificial limb connecting disc 205 of the bionic thigh 2, adjusting the bionic thigh 2 to a corresponding angle according to different lengths and test requirements of the tested artificial limb, and adjusting the tested artificial limb to an initial position of an upper stair gait cycle, namely bending a knee joint of the tested artificial limb to a corresponding angle, so that a lower leg of the tested artificial limb is parallel to the vertical direction;

secondly, the industrial robot 1 drives the bionic thigh 2 to enable the ground reaction module 3 to be positioned under the foot of the tested artificial limb, and the ball screw mechanism of the ground reaction module 3 brings the force measuring plate 310 to the top end position, so that the sole of the foot of the tested artificial limb is completely stepped on the force measuring plate 310, and the position is the starting position of the knee joint artificial limb testing device when the tested artificial limb is positioned at the starting position of the stair walking period;

step three, starting from the detected artificial limb at the initial position of the stair-climbing gait cycle, firstly entering a supporting phase, driving the bionic thigh 2 to swing backwards in the sagittal plane according to the angular velocity of the human body movement by the industrial robot 1, correspondingly moving the detected artificial limb according to the action of the human body on the stair-climbing supporting phase, simultaneously driving the bionic thigh 2 to translate in the horizontal direction and the vertical direction by the industrial robot 1, ensuring that the force measuring plate 310 of the ground reaction force module 3 is always positioned below the detected artificial limb foot, keeping the whole sole of the detected artificial foot to step on the force measuring plate 310 during the movement, simultaneously driving the force measuring plate 310 to move downwards by the ball screw mechanism of the ground reaction force module 3, measuring the ground reaction force generated by the force measuring plate 310 and the detected artificial limb through the tension and compression sensor 311, adjusting the working position of the force measuring plate 310 by the ground reaction force module 3 according to the size of the ground, therefore, the ground counterforce borne by the tested artificial limb is adjusted to be consistent with the ground counterforce of a normal person when going upstairs until the bionic thigh 2 is parallel to the vertical direction and the bending angle of the knee of the tested artificial limb is zero, the process simulates the action of a stair-climbing walking supporting phase, then, the industrial robot 1 drives the bionic thigh 2 to swing backwards in the sagittal plane according to the angular velocity of the human body motion, meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction and the vertical direction, the foot of the tested artificial limb is naturally separated from the force measuring plate 310, the supporting phase is finished, the tested artificial limb enters a swinging phase, the industrial robot 1 drives the bionic thigh 2 to perform the action of the swinging phase, the tested artificial limb swings forwards in the sagittal plane according to the angular velocity of the human body motion, the tested artificial limb correspondingly moves in the stair-climbing phase according to the human body motion, and meanwhile, the industrial robot 1 drives the bionic thigh 2 in the horizontal direction and the vertical direction, when the tested artificial limb returns to the initial position of the stair-climbing gait cycle, the knee joint artificial limb testing device also returns to the corresponding initial position when the tested artificial limb is at the initial position of the stair-climbing gait cycle, at the moment, the foot of the tested artificial limb is contacted with the force measuring plate 310 again, the swing phase is finished, the gait cycle is finished, the next gait cycle is started, and the step three is repeatedly operated, so that the tested artificial limb is tested in the stair-climbing mode.

When the tested artificial limb is used for going downstairs testing:

fixing a tested artificial limb on an artificial limb connecting disc 205 of a bionic thigh 2, wherein the bionic thigh 3 is parallel to the vertical direction, the knee joint bending angle of the tested artificial limb is 0, the tested artificial limb is completely straightened, and the tested artificial limb shank is parallel to the vertical direction and is the initial position of the step state period of the tested artificial limb going downstairs;

step two, the industrial robot 1 drives the bionic thigh 2 to enable the force measuring plate 310 of the ground reaction module 3 to be in contact with the full sole of the foot of the tested artificial limb, the tested artificial limb shank is perpendicular to the force measuring plate 310, and the state is an initial position corresponding to the knee joint artificial limb testing device when the tested artificial limb is at the initial position of the stair descending gait cycle;

step three, the tested artificial limb enters a supporting phase from the initial position of the stair descending step state period, the industrial robot 1 drives the bionic thigh 2 to swing backwards in the sagittal plane according to the angular velocity of the human body movement, the tested artificial limb installed on the bionic thigh 2 correspondingly moves according to the action of the human body in the stair descending supporting phase, and the knee joint movement is simulated when the human descends the stairs; meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction, so that the foot of the tested artificial limb is always stepped on the force measuring plate 310, meanwhile, the ball screw mechanism of the ground reaction module 3 drives the force measuring plate 310 to move upwards, ground reaction force generated by the force measuring plate 310 and the foot of the tested artificial limb is measured through the tension and compression sensor 311, the ground reaction force module 3 adjusts the working position of the force measuring plate 310 according to the magnitude of the ground reaction force, so that the ground reaction force borne by the tested artificial limb is adjusted to be consistent with the ground reaction force generated when a normal person goes down stairs until the length of the tested artificial limb is different from the test requirement, the bionic thigh 2 is adjusted to a corresponding angle, the knee joint of the tested artificial limb is bent to a corresponding angle, in the process, the tested artificial limb simulates the action of a walking support phase of going down stairs, and then the industrial robot 1 continues to drive the thigh 2 to swing backwards in a sagittal plane according to the angular velocity of the human body bionic motion, the tested artificial limb continues to act, meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction and the vertical direction, the tiptoe of the foot of the tested artificial limb is separated from the force measuring plate 310, the supporting phase is combined, and the tested artificial limb enters a swinging phase;

the industrial robot 1 drives the bionic thigh 2 to perform the motion of the swing phase, the bionic thigh 2 swings forwards in a sagittal plane according to the angular velocity of the motion of the human body, the tested artificial limb correspondingly moves according to the motion of the human body in the swing phase of going downstairs, meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction and the vertical direction, when the tested artificial limb returns to the initial position of the step period of going downstairs, the knee artificial limb testing device also returns to the corresponding initial position when the tested artificial limb is at the initial position of the step period of going downstairs, at the moment, the foot part of the tested artificial limb is contacted with the force measuring plate 310 again, the swing phase is finished, the gait period is finished, the next gait period is started, and the step three is repeatedly operated, and the tested artificial limb is tested downstairs.

The invention has the beneficial effects that:

1. the invention can actively adjust the ground reaction force applied to the artificial limb, and the whole device is more convenient and flexible because the use structure of the industrial robot is simpler.

2. The invention can construct the test condition when the artificial limb walks on the ramp and goes upstairs and downstairs.

3. The working length of the bionic thigh and the working height of the ground reaction module can be adjusted, and the artificial limb testing device can be used for testing artificial limbs with different lengths.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the bionic thigh structure of the invention.

FIG. 3 is a schematic structural diagram of a ground reaction force module according to the present invention.

FIG. 4 is a diagram of the horizontal uniform walking test process performed by the present invention.

FIG. 5 is a schematic diagram of the ramp up and down test process of the present invention.

FIG. 6 is a diagram of the stair climbing test process of the present invention.

FIG. 7 is a diagram of the process of the present invention for stair descent test.

Wherein: 1 an industrial robot; 2, simulating thighs; a ground reaction force module; 201 a connecting frame; 202 a thigh frame; 203 adjusting a screw mounting plate; 204 adjusting screw; 205 a prosthesis coupling disc; 301 a frame; 302 supporting a seat mounting plate; 303 a screw rod supporting seat; 304 steering connecting discs; 305 a servo motor; 306 mounting the plate; 307 a coupler; 308, installing a rod; 309 a force measuring mounting plate; 310 force measuring plates; 311 a tension and compression sensor; 312-a rail slider; 313 guide rails; a 314L-shaped connecting seat; 315 a screw nut; 316 a lead screw nut seat; 317 screw mandrel.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, an industrial robot-based knee joint prosthesis testing device comprises an industrial robot 1, a bionic large leg 2 and a ground reaction force module 3, wherein the industrial robot 1 and the ground reaction force module 3 are both fixed on the ground, the industrial robot 1 is arranged behind the ground reaction force module 3, and the bionic large leg 2 is connected at an interface of the industrial robot 1;

the industrial robot 1 is a new loose SR120D industrial robot with six degrees of freedom, can perform translation in two directions in the test process and drive bionic thighs to swing, the translation in the vertical direction simulates the up-and-down translation of hip joints when a person walks, and the translation in the horizontal direction is used for supporting and simulating the horizontal translation of the hip joints when the person walks. Meanwhile, the prosthesis to be tested is positioned at the initial position of the next step table period when finishing the swing phase action by the rapid movement in the swing phase. The bionic thigh 2 swinging is used for simulating the human walking hip joint to drive the thigh to swing. The demonstrator of the industrial robot is used for setting the actions of the industrial robot such as walking test at the level of the artificial limb, walking test on the ramp, walking test on the stairs and controlling the actions of the industrial robot by the external control cabinet.

As shown in fig. 2, the bionic thigh 2 comprises a connecting frame 201, a thigh frame 202, an adjusting screw mounting plate 203, an adjusting screw 204 and an artificial limb connecting plate 205, wherein one end of the connecting frame 201 is fixed at the interface of the industrial robot 1, the other end of the connecting frame is fixedly connected with the thigh frame 202, the thigh frame 202 is formed by splicing two columns of aluminum alloy sections, the adjusting screw mounting plate 203 is fixed at the bottom of the thigh frame 202, and the adjusting screw 204 is selectively fixed on the adjusting screw mounting plate 203, specifically: the adjusting screw 204 is screwed on the adjusting screw mounting plate 203 and is fastened on the adjusting screw mounting plate 203 through two nuts, and the function of adjusting the length can be realized by rotating the adjusting screw 204. The artificial limb connecting disc 205 is fixed at the bottom end of the adjusting screw 204, and bolt holes which are uniformly distributed and used for being connected with artificial limb bolts are arranged on the periphery of the artificial limb connecting disc 205 and used for being connected with a connecting disc bolt at the top of an artificial limb;

as shown in FIG. 3, the ground reaction force module 3 comprises a frame 301 capable of adjusting an angle, a supporting seat mounting plate 302, a servomotor 305, a mounting plate 306, a force measuring mounting plate 309, a force measuring plate 310, a slide way, a ball screw mechanism, a tension and compression sensor 311 and an L-shaped connecting seat 314, wherein the mounting plate 306 is fixed on the frame 301, the frame 301 is fixed on the ground, the bottom of the mounting plate 306 is provided with the servomotor 305, the servomotor 305 is connected with a screw end at the bottom end of the ball screw mechanism through a coupling 307, the two ends above the mounting plate 306 are provided with the slide way, the supporting seat mounting plate 302 is fixedly connected on the slide way at one side of the mounting plate 306, the ball screw mechanism is fixed on the supporting seat mounting plate 302, the L-shaped connecting seat 314 is fixed on a screw nut seat of the ball screw mechanism, the tension and compression sensor 311 is fixedly connected on the L-shaped connecting seat 314, the two ends of the force measuring mounting plate 309 are respectively movably connected on the slide way arranged at the two ends of the mounting plate 306, the force measuring plate 310 can slide up and down along the slide way, the force measuring mounting plate 309 is also fixedly connected with the tension and compression sensor 311, and the force measuring plate is fixed on the force measuring mounting plate 309; the tension and compression sensor 311 is used for measuring the magnitude of the ground reaction force provided by the ground reaction module 3 for the prosthetic foot;

the slide way of the ground reaction module 3 comprises mounting rods 308 and guide rails 313, wherein the mounting rods 308 are respectively fixed at two ends of the mounting plate 306, each mounting rod 308 is fixed with a guide rail 313 with a guide rail slider 312, and the mounting rods 308 at one end of the mounting plate 306 are respectively and fixedly connected with the supporting seat mounting plate 302 from top to bottom.

The ball screw mechanism of the ground reaction module 3 comprises a screw rod supporting seat 303, a screw rod 317, a screw rod nut 315 and a screw rod nut seat 316, wherein the servo motor 305 is connected with one end of the screw rod 317 through a coupler 307, specifically: one end of the coupling 307 is connected with an output shaft of a servo motor 305 mounted on the bottom surface of the mounting plate 306, the other end is connected with a lead screw 317, two ends of the lead screw 317 are respectively fixed on the two support seat mounting plates 302 through a lead screw support seat 303, a lead screw nut seat 316 is fixed on a lead screw nut 315, the lead screw nut 315 is mounted on the lead screw 317, an L-shaped connecting seat 314 is fixed on the lead screw nut seat 316, and two ends of a force measuring mounting plate 309 are respectively fixed on guide rail sliding blocks 312 of slideways at two ends of the mounting plate 306. The pull-press sensor 311 is used for measuring the magnitude of the ground reaction force provided by the ground reaction force module 3 for the prosthetic footstep;

the frame 301 comprises four vertical rods of aluminum alloy sections and two horizontal rods, wherein the vertical rods are fixed on the ground, two sides of the mounting plate 306 are respectively fixed on the two horizontal rods of the two aluminum alloy sections, and each horizontal rod is connected to the two vertical rods on one side of the frame 301 through a steering connecting disc 304. The angle between the horizontal rod and the horizontal direction is realized by adjusting the mounting position of the steering connecting disc 304 on the vertical rod;

firstly, when the bionic thigh device is used, the industrial robot 1 drives the bionic thigh 2 to swing, and the tested knee joint prosthesis is connected to the prosthesis connecting plate 205 of the bionic thigh 2 through bolts.

As shown in fig. 4, the tested knee joint prosthesis performs a test of walking state at a constant speed on the flat ground: (knee joint prosthesis to be tested hereinafter, referred to as prosthesis to be tested)

Fixing the tested artificial limb on the artificial limb connecting disc 205 of the bionic thigh 2, adjusting the bionic thigh 2 to form an angle of 20-40 degrees with the vertical direction according to different lengths of the tested artificial limb, and adjusting the tested artificial limb to the initial position of a gait cycle, namely the foot of the tested artificial limb is in a working state that the heel touches the ground and the knee joint extends straight and extends forwards;

the industrial robot 1 drives the tested artificial limb to enable the ground reaction force module 3 to be positioned below the foot of the tested artificial limb, and the force measuring plate 310 of the ground reaction force module 3 is in contact with the heel of the foot of the tested artificial limb, and the state is the corresponding position of the knee joint artificial limb testing device when the tested artificial limb is positioned at the initial position of a gait cycle; when the whole device is in the state, the end of the last gait cycle of the tested artificial limb is marked, and the next gait cycle is started.

One gait cycle consists of a support phase and a swing phase, and the test starts from the support phase to the swing phase and then to the support phase and the swing phase of the next cycle; the swing phase of one gait cycle is finished, the gait cycle is finished, and the next cycle is started and seamlessly connected. For a single leg, the support phase and the swing phase alternate.

The method is characterized in that a gait cycle starting position of a tested artificial limb firstly enters a supporting phase, when the tested artificial limb is in the supporting phase, an industrial robot 1 drives a bionic thigh 2 to perform supporting phase movement, namely, the bionic thigh 2 swings backwards in a sagittal plane according to the angular velocity of human motion and then swings forwards, the tested artificial limb arranged on the bionic thigh 2 also starts working, and the knee joint motion is specifically realized when a simulated person walks in a normal horizontal mode: the industrial robot 1 drives the thigh frame 202 to move and then drives the adjusting screw 204 to move, so that a tested artificial limb fixed on the artificial limb connecting disc 205 moves, the industrial robot 1 drives the bionic thigh 2 to swing, the tested artificial limb correspondingly completes a support phase action and moves according to the action of human body movement, wherein a preset program in the control cabinet controls an interface of the industrial robot 1 to horizontally move to a support phase to be bound for simulating horizontal walking and supporting the forward translation of a hip joint, and meanwhile, the preset program in the control cabinet controls the industrial robot 1 to drive the bionic thigh 2 to swing forwards and backwards to simulate the horizontal walking and supporting the hip joint to drive the bionic thigh 2 to swing;

the servo motor 305 of the ground reaction force module 3 is started, so as to drive the screw rod of the ball screw mechanism to operate, further drive the force measurement mounting plate 309 to slide on the slideway through the L-shaped connecting seat 314 and the tension and pressure sensor 311, so that the force measurement plate 310 moves up and down and works in cooperation with the industrial robot 1, so that the force measurement plate 310 is always in contact with the foot of the tested artificial limb, the damping force of the tested artificial limb during working is adjusted by adjusting the working height of the force measurement plate 310, further the ground reaction force applied to the foot of the tested artificial limb is adjusted, and the ground reaction force applied to the foot of the tested artificial limb during the supporting phase is consistent with the ground reaction force applied to the foot of a normal human body during walking; if the ground reaction force between the force-measuring plate 310 and the prosthetic foot is too large (too small), the ground reaction force module 3 drives the force-measuring plate 310 to move downward (upward) while keeping contact with the prosthetic foot, and accordingly the measured prosthetic damping force decreases (increases), and the ground reaction force between the prosthetic foot and the force-measuring plate 310 decreases (increases) until the ground reaction force reaches a target value.

Wherein the working height of the force-measuring plate 310 is adjusted by the screw mechanism of the ground reaction module 3 to change the position of the ground reaction mounting plate 309 on the slideway,

the contact of the heel of the tested artificial limb foot with the force measuring plate 310 is changed into the contact of the whole sole with the force measuring plate 310, and then the contact of the toe with the force measuring plate 310 is changed, the knee joint of the tested artificial limb is different from the testing requirement according to the length of the artificial limb, when the knee joint is at an angle of 25-45 degrees, the toe is separated from the force measuring plate, and the supporting phase is ended when the force measuring plate 310 is separated from the tested artificial limb foot, and the swing phase is entered;

when the artificial limb is in the gait cycle starting position, the preset program in the control cabinet controls the industrial robot 1 to drive the bionic thigh 2 to swing by the hip joint when the bionic thigh 2 front swing is used for simulating the horizontal walking swing phase,

the force measuring plate 310 of the ground reaction force module 2 returns to the corresponding position when the tested artificial limb is at the initial position of the gait cycle, the heel of the foot of the tested artificial limb is contacted with the force measuring plate 310, the swing phase is finished, the one gait cycle is finished, the next gait cycle is started, the steps are repeated, and the working state of the tested artificial limb when the simulator walks continuously.

In the supporting phase and the swinging phase, a preset program in the control cabinet controls the industrial robot 1 to move up and down to simulate the up-and-down movement of the hip joint when the human walks horizontally, the movement rule of the up-and-down movement of the hip joint is consistent with the movement rule of the up-and-down movement of the hip joint when the human walks horizontally, and the period is consistent with the gait period. The whole testing device periodically and repeatedly works to test the artificial limb under the horizontal walking working condition.

As shown in fig. 5, when the tested artificial limb performs the walking on the slope test:

ramp construction is performed first: the angle of the adjusting frame 301 specifically is: adjusting a steering connecting plate 304, adjusting the installation position and angle of the horizontal rod of the frame 301 on the vertical rod through the steering connecting plate 304, and then inclining the installation plate 306 to generate a required test angle to complete the construction of the ramp;

fixing the tested artificial limb on the artificial limb connecting disc 205 of the bionic thigh 2, adjusting the bionic thigh 2 to form an angle of 50-70 degrees with the mounting plate 306 according to different lengths of the tested artificial limb, and adjusting the tested artificial limb to the initial position of the up-and-down slope gait cycle, namely, the knee joint of the tested artificial limb extends straight and extends forwards, and the foot of the tested artificial limb is in a working state of heel-to-ground contact;

secondly, a slope walking test is carried out, the working state of the ground reaction force module 3 is similar to that of the horizontal constant-speed walking,

starting from the initial position of gait cycle when the tested artificial limb is on an uphill slope and a downhill slope, firstly entering a supporting phase, when the tested artificial limb is in the supporting phase, driving the bionic thigh 2 by the industrial robot 1 according to a preset control program to perform the supporting phase action, namely swinging backwards and forwards in a sagittal plane according to the angular velocity of human motion, correspondingly moving the tested artificial limb according to the action of the supporting phase when the human body is on the uphill slope and the downhill slope, simultaneously driving the bionic thigh 2 to move horizontally and vertically by the industrial robot 1 according to the preset control program, ensuring that the force measuring plate 310 is always contacted with the tested artificial limb foot under the cooperative work of the ground reaction force module 3 and the industrial robot 1, and adjusting the damping force when the tested artificial limb works by adjusting the working height of the force measuring plate 310 by the ball screw mechanism of the ground reaction force module 3 so as to further adjust the ground reaction force borne by the tested artificial limb foot, the ground reaction force borne by the foot of the tested artificial limb is ensured to be consistent with the ground reaction force borne by a normal person when the normal person goes up and down a slope; the industrial robot 1 drives the bionic thigh 2 to move according to a preset control program, the force measuring plate 310 of the ground reaction module 3 is kept below the foot of the tested artificial limb all the time, the foot of the tested artificial limb is always stepped on the force measuring plate 310, the whole process that the foot of the tested artificial limb is contacted with the force measuring plate 310 from the heel to the whole sole, then the foot tip is contacted with the force measuring plate 310, and the support phase is finished when the force measuring plate 310 is separated from the foot of the tested artificial limb, and the bionic thigh 2 enters a swing phase;

when the artificial limb is in the up-down slope gait cycle starting position, the force measuring plate 310 is also driven by the ball screw mechanism of the ground counter-force module 3 to return to the corresponding position when the artificial limb is in the up-down slope gait cycle starting position, when the motion of the swing phase is finished, the foot of the tested artificial limb also moves to the initial position of the gait cycle of the uphill slope and the downhill slope, namely the heel of the foot of the tested artificial limb is contacted with the force measuring plate 310, the swing phase is finished, the gait cycle is finished, meanwhile, the next gait cycle is started, the steps are repeated, and the working state of the tested artificial limb is simulated when the person walks on the slope.

As shown in fig. 6 and 7, when the tested prosthesis is used for stair climbing test:

according to different lengths and test requirements of the tested artificial limb, the bionic thigh 2 is adjusted to form an angle of 40-60 degrees with the vertical direction, and the tested artificial limb is adjusted to the initial position of the gait cycle of the upper stair, namely the knee joint of the tested artificial limb is bent by 40-60 degrees, so that the lower leg of the tested artificial limb is parallel to the vertical direction;

the industrial robot 1 drives the tested artificial limb to enable the ground reaction module 3 to be positioned under the foot of the tested artificial limb, meanwhile, the ball screw mechanism of the ground reaction module 3 brings the force measuring plate 310 to the top end position, so that the sole of the foot of the tested artificial limb is completely stepped on the force measuring plate 310, and at the moment, the position of the force measuring plate 310 of the ground reaction module 3 just enables the bionic thigh 2 and the tested artificial limb to be in the above state, namely the initial position of the knee joint artificial limb testing device when the tested artificial limb is positioned at the initial position of the stair gait cycle; each time in this state, it marks the end of the previous gait cycle and the start of the next gait cycle. The industrial robot 1 drives the bionic thigh 2 to swing, simultaneously drives the bionic thigh 2 to horizontally reciprocate horizontally, and the knee joint artificial limb arranged on the bionic thigh 2 starts working, so that the knee joint moves when the artificial simulator goes upstairs.

Starting from the initial position of the stair-climbing gait cycle, firstly entering a support phase, driving the bionic thigh 2 to swing backwards in a sagittal plane according to the angular velocity of human motion by the industrial robot 1, and simulating the knee joint motion of a human when the human goes down stairs by the tested artificial limb arranged on the bionic thigh 2 correspondingly according to the motion of the human body in the stair-descending support phase; meanwhile, the industrial robot 1 drives the bionic big leg 2 to translate in the horizontal direction, so that the foot of the tested artificial limb is always stepped on the force measuring plate 310, the force measuring plate 310 of the ground reaction force module 3 is always positioned below the foot of the tested artificial limb, the foot of the tested artificial limb is always kept to be completely stepped on the force measuring plate 310 during the movement, the force measuring plate 310 moves downwards, the ground reaction force generated by the force measuring plate 310 and the foot of the tested artificial limb is measured through the tension and pressure sensor 311, the working position of the force measuring plate 310 is rapidly and actively adjusted through the reaction force module 3 according to the magnitude of the ground reaction force, so that the ground reaction force borne by the tested artificial limb is adjusted, the ground reaction force is always consistent with the ground reaction force generated when a normal person goes up stairs, a preset program in the control cabinet controls the interface of the industrial robot 1 to horizontally move to a support combination to simulate the translational motion of a hip joint of going up stairs and forward, and simultaneously, the preset program in the control cabinet controls the industrial robot 1 to drive the bionic thigh 2 to swing backwards, so as to simulate that the hip joint rotates to drive the bionic thigh 2 to swing when the artificial limb goes upstairs to support the phase, the whole sole of the foot of the tested artificial limb is always in contact with the force measuring plate 310 in the whole process until the bionic thigh 2 is parallel to the vertical direction, the bending angle of the knee of the tested artificial limb is zero, and the whole sole of the tested artificial limb is stepped on the force measuring plate 310 in the process, the tested artificial limb moves forwards and upwards relative to the force measuring plate 310 to simulate the action of the walking support phase going upstairs, then the industrial robot 1 continuously drives the bionic thigh 2 to swing backwards in the sagittal plane according to the angular velocity of the human body movement, the tested artificial limb continues to act, the toe of the tested artificial limb naturally separates from the force measuring plate 310, the support phase is finished, and the tested artificial limb enters the swing phase,

when the artificial limb is in the walking phase, the preset program in the control cabinet controls the industrial robot 1 to horizontally move to the position corresponding to the artificial limb to be tested at the initial position of the walking period, the preset program in the control cabinet controls the industrial robot 1 to drive the bionic thigh 2 to perform the motion of the walking phase, the bionic thigh 2 swings forwards in the sagittal plane according to the angular velocity of the human motion, the motion of the walking phase is correspondingly completed by the artificial limb to be tested, when the motion of the walking phase is completed, the artificial limb to be tested also returns to the initial position of the walking period, meanwhile, the force measuring plate 310 on the ground reaction force module 3 rapidly moves to the position corresponding to the artificial limb to be tested at the initial position of the walking period, when the foot of the artificial limb to be tested is contacted with the force measuring plate 310 again, the walking phase is completed, the walking period is completed, the next walking period starts, the steps are repeated, and the artificial limb is tested upstairs.

When the artificial limb is ascended to the stairs, the mass center of the human body, namely the hip joint, moves upwards and forwards relative to the steps of the stairs, the hip joint is not moved, the horizontal motion module and the ground reaction module move backwards and downwards, and the operation state that the hip joint of the artificial limb to be tested moves forwards and upwards relative to the steps of the stairs is simulated.

When the tested artificial limb is used for going downstairs testing:

the bionic thigh 2 is parallel to the vertical direction, the knee joint bending angle of the tested artificial limb is 0, the tested artificial limb is completely straightened, and the small leg of the tested artificial limb is parallel to the vertical direction, which is the initial position of the stair stepping period of the tested artificial limb going down;

the industrial robot 1 drives the bionic thigh 2 to enable a force measuring plate 310 of the ground reaction module 3 to be in contact with the full sole of the foot of the tested artificial limb, the tested artificial limb shank is perpendicular to the force measuring plate 310, and the state is an initial position corresponding to the knee joint artificial limb testing device when the tested artificial limb is at the initial position of the step state period of the downstairs;

the position of the force measuring plate 310 of the ground reaction force module 3 just enables the bionic thigh 2 and the tested artificial limb to be in the above state. When the whole device is in the state, marking that the previous gait cycle is finished and the next gait cycle is started;

starting from the initial position of the stair descending step state period, firstly entering a supporting phase, driving the bionic thigh 2 to swing backwards in a sagittal plane according to the angular velocity of human motion by the industrial robot 1, correspondingly moving a tested artificial limb installed on the bionic thigh 2 according to the motion of the human body in the stair descending supporting phase, and simulating the motion of a knee joint when a person descends the stairs; meanwhile, the industrial robot 1 drives the bionic thigh 2 to translate in the horizontal direction, so that the foot of the tested artificial limb is always stepped on the force measuring plate 310, the ground reaction force module 3 moves along with the foot of the tested artificial limb, the force measuring plate 310 of the ground reaction force module 3 is ensured to be always positioned below the foot of the tested artificial limb, the foot of the tested artificial limb is always stepped on the force measuring plate 310 in the moving process, the force measuring plate 310 moves upwards, the ground reaction force generated by the force measuring plate 310 and the foot of the tested artificial limb is measured through the ground reaction force tension and pressure sensor 513, the working position of the force measuring plate 310 is rapidly and actively adjusted through the reaction force module 3 according to the magnitude of the ground reaction force, so that the ground reaction force borne by the tested artificial limb is adjusted to be consistent with the ground reaction force generated when a normal person goes down stairs, until the bionic thigh 2 forms an angle of 15-20 degrees with the vertical direction according to the length of the artificial limb, and when the knee joint of the tested artificial limb is bent by 30-40 degrees, in the process, the tested artificial limb moves downwards and forwards relative to the force measuring plate 310 to simulate the action of a walking support phase going downstairs, then the industrial robot 1 continues to drive the bionic thigh 2 to swing backwards in a sagittal plane according to the angular velocity of the human body movement, the tested artificial limb continues to act, the toe of the foot of the tested artificial limb is separated from the force measuring plate 310, the support phase is finished, and the tested artificial limb enters the swing phase;

specifically, a preset program in the control cabinet controls the industrial robot 1 to horizontally move to the end of a support phase, the industrial robot 1 is used for simulating forward translation of a hip joint of a support phase of the descending stair, meanwhile, the preset program in the control cabinet controls the industrial robot 1 to drive the bionic thigh 2 to swing backwards to simulate that the hip joint rotates to drive the thigh to swing when the support phase of the descending stair is carried out, the whole sole of a foot of a tested prosthetic limb is in contact with the force measuring plate 310 in the whole process, the toe is in contact with the force measuring plate 310, and when the tested prosthetic limb bends to reach a specified angle of the descending stair test, the support phase is ended.

The preset program in the control cabinet controls the industrial robot 1 to move horizontally in a reverse direction to a position corresponding to the artificial limb to be tested when the artificial limb is at the initial position of the gait cycle, the preset program in the control cabinet controls the industrial robot 1 to drive the bionic thigh 2 to perform swinging phase actions, the bionic thigh 2 swings backwards in a sagittal plane according to the angular velocity of human motion and then swings forwards, the artificial limb to be tested correspondingly completes the swinging phase actions, when the swinging phase actions are finished, the artificial limb to be tested also returns to the initial position of the gait cycle, meanwhile, the ground reaction module 3 moves to the position corresponding to the artificial limb to be tested when the artificial limb is at the initial position of the gait cycle, when the foot of the artificial limb to be tested is contacted with the force measuring plate 310 again, the swinging phase is finished, the gait cycle is finished, the next gait cycle is started, and the steps are repeated to perform stair descending test on the artificial limb.

When the artificial limb to be tested is in the state of going up and down the stairs, the test is started from the initial position of the gait cycle of going up and down the stairs, the industrial robot 1 and the ground reaction module 3 simulate the relative motion of legs, feet and the stair surface when the human walks up and down the stairs, when the human swings, the industrial robot 1 rapidly returns to the initial position of the next test cycle, and the steps are repeated in this way to simulate the working state of the artificial limb to be tested when the artificial limb is in the state of going up and down the stairs.

When testing different artificial limbs to be tested, through adjusting the position of adjusting screw 204 on the bionic thigh 2, namely rotating adjusting screw 204, adjusting screw 204 just is located the different height department on adjusting screw mounting panel 203, thereby adjust the working length of bionic thigh 2, adjust the working distance between artificial limb foot to be tested and the bionic thigh 2 through the working position of adjusting dynamometer plate 310, when the working position of adjusting dynamometer plate 310 can not satisfy the operational requirement, can control industrial robot 1 and enlarge working distance.

Claims

1. The device for testing the knee joint of the lower limb prosthesis based on the industrial robot comprises the industrial robot (1) with six degrees of freedom, and is characterized by further comprising a bionic thigh (2) and a ground reaction module (3), wherein the industrial robot (1) and the ground reaction module (3) are both fixed on the ground, the industrial robot (1) is arranged behind the ground reaction module (3), and the bionic thigh (2) is connected to an interface of the industrial robot (1);

the bionic thigh (2) comprises a connecting frame (201), a thigh frame (202), an adjusting screw mounting plate (203), an adjusting screw (204) and an artificial limb connecting plate (205), wherein one end of the connecting frame (201) is fixed at an interface of the industrial robot (1), the other end of the connecting frame is fixedly connected with the thigh frame (202), the adjusting screw mounting plate (203) is fixed at the bottom of the thigh frame (202), the adjusting screw (204) is fixed on the adjusting screw mounting plate (203), the artificial limb connecting plate (205) is fixed at the bottom end of the adjusting screw (204), and bolt holes which are uniformly distributed and used for being connected with artificial limb bolts are formed in the periphery of the artificial limb connecting plate (205);

the ground reaction module (3) comprises a frame (301) capable of adjusting angles, a supporting seat mounting plate (302), a servo motor (305), a mounting plate (306), a force measuring mounting plate (309), a force measuring plate (310), a slide way, a ball screw mechanism, a tension and compression sensor (311) and an L-shaped connecting seat (314), wherein the mounting plate (306) is fixed on the frame (301), the frame (301) is fixed on the ground, the servo motor (305) is arranged at the bottom of the mounting plate (306), the servo motor (305) is connected with a screw rod end at the bottom end of the ball screw mechanism through a coupling (307), the slide way is arranged at two ends above the mounting plate (306), the supporting seat mounting plate (302) is fixedly connected on the slide way at one side of the mounting plate (306), the ball screw mechanism is fixed on the supporting seat mounting plate (302), and the L-shaped connecting seat (314) is fixed on a screw rod nut seat of the ball screw mechanism, the tension and compression sensor (311) is fixedly connected to the L-shaped connecting seat (314), two ends of the force measurement mounting plate (309) are respectively and movably connected to the slideways arranged at two ends of the mounting plate (306) and can slide up and down along the slideways, the force measurement mounting plate (309) is simultaneously and fixedly connected with the tension and compression sensor (311), and the force measurement plate (310) is fixed to the force measurement mounting plate (309).

2. An industrial robot-based knee joint testing device for a lower limb prosthesis according to claim 1, characterized in that the slide way of the ground reaction force module (3) comprises mounting rods (308) and guide rails (313), wherein the mounting rods (308) are respectively fixed at two ends of a mounting plate (306), each mounting rod (308) is fixed with a guide rail (313) with a guide rail slider (312), and the mounting rod (308) at one end of the mounting plate (306) is fixedly connected with a supporting seat mounting plate (302).

3. The knee joint test device for the lower limb prosthesis based on the industrial robot is characterized in that a ball screw mechanism of the ground reaction force module (3) comprises a screw rod supporting seat (303), a screw rod (317), a screw rod nut (315) and a screw rod nut seat (316), wherein a servo motor (305) is connected with one end of the screw rod (317) through a coupling (307), two ends of the screw rod (317) are respectively fixed on a supporting seat mounting plate (302) through the screw rod supporting seat (303), the screw rod nut seat (316) is mounted on the screw rod (317) through the screw rod nut (315), an L-shaped connecting seat (314) is fixed on the screw rod nut seat (316), and two ends of a force measuring mounting plate (309) are respectively fixed on guide rail sliding blocks (312) of slideways at two ends of the mounting plate (306).

4. An industrial robot based lower limb prosthesis knee joint test device according to claim 3, characterized in that the frame (301) comprises four vertical bars and two horizontal bars, wherein the vertical bars are fixed on the ground, and the mounting plate (306) is fixed on two horizontal bars at both sides, each horizontal bar is connected to two vertical bars at one side of the frame (301) by a steering connection pad (304).

5. The method for testing the flat ground constant-speed walking state of the tested knee joint prosthesis by adopting the industrial robot-based lower limb prosthesis knee joint testing device of any one of claims 1 to 4 is characterized by comprising the following steps:

fixing a tested artificial limb on an artificial limb connecting disc (205) of a bionic thigh (2), and adjusting the bionic thigh (2) to a corresponding angle according to different lengths of the tested artificial limb, so that the foot of the tested artificial limb is in a working state that a heel touches the ground and a knee joint extends straight and extends forwards, and the tested artificial limb in the state is at an initial position of a gait cycle;

step two, the industrial robot (1) drives the bionic thigh (2) to move, and then drives the tested artificial limb to move, so that the ground reaction module (3) is positioned below the foot of the tested artificial limb, a force measuring plate (310) of the ground reaction module (3) is contacted with the heel of the foot of the tested artificial limb, and the knee joint artificial limb testing device in the state is positioned at a corresponding position when the tested artificial limb is positioned at the initial position of a gait cycle;

step three, starting from the initial position of the gait cycle of the artificial limb to be tested, firstly entering a support phase, when the artificial limb to be tested is in the support phase, driving the bionic thigh (2) by the industrial robot (1) to perform the motion of the support phase, namely swinging backwards and forwards in the sagittal plane according to the angular velocity of the motion of the human body, and starting the operation of the artificial limb to be tested arranged on the bionic thigh (2), namely the artificial limb to be tested correspondingly moves according to the motion of the human body in the support phase to simulate the motion of the knee joint when the human normally walks horizontally, meanwhile, driving the bionic thigh (2) to translate in the horizontal and vertical directions by the industrial robot (1), enabling the force measuring plate (310) to be always contacted with the artificial limb to be tested under the cooperative work of the ground reaction force module (3) and the industrial robot (1), and adjusting the damping force when the artificial limb to be tested works by the ball screw mechanism of the ground reaction force measuring plate (3) through adjusting the working height of the force measuring plate (310), further adjusting the ground reaction force applied to the tested artificial foot, so that the ground reaction force applied to the tested artificial foot in the supporting phase process is consistent with the ground reaction force applied to the foot when a normal human body walks;

the contact of the heel of the tested artificial limb foot with the force measuring plate (310) is changed into the contact of the whole sole with the force measuring plate (310), then the contact of the toe is changed into the contact with the force measuring plate (310), when the toe of the tested artificial limb foot is separated from the force measuring plate (310), the supporting phase is finished, and the swing phase is entered;

when the swing phase is in, the industrial robot (1) drives the bionic thigh (2) to perform the motion of the swing phase, namely, the bionic thigh (2) swings forwards in a sagittal plane according to the angular velocity of the motion of the human body, the tested artificial limb correspondingly moves according to the motion of the human body in the swing phase, the industrial robot (1) also drives the bionic thigh (2) to translate in the horizontal direction and the vertical direction, when the motion of the swing phase is finished, the tested artificial limb returns to the initial position of a gait cycle, namely, the heel of the foot of the tested artificial limb is contacted with the force measuring plate (310), the industrial robot (1) also drives the bionic thigh (2) to move to the corresponding position when the tested artificial limb is at the initial position of the gait cycle, meanwhile, the force measuring plate (310) of the counter-force module (3) also returns to the corresponding position when the tested artificial limb is at the initial position of the gait cycle, the swing phase is finished, the next gait cycle is started, and repeating the third step to simulate the working state of the artificial limb to be tested when the human walks continuously.

6. Method for performing a hill walk test on a knee prosthesis to be tested using an industrial robot-based knee prosthesis knee joint testing device according to any of claims 1-4, characterized by the steps of:

firstly, constructing a ramp: adjusting the angle of the frame (301), and then inclining the mounting plate (306) to generate a required test angle to complete the construction of the ramp;

fixing the tested artificial limb on an artificial limb connecting disc (205) of the bionic thigh (2), adjusting the bionic thigh (2) to be 50-70 degrees with the mounting plate (306) according to different lengths of the tested artificial limb, and adjusting the tested artificial limb to the initial position of the up-and-down slope gait cycle, namely, the knee joint of the tested artificial limb extends straight and extends forwards, and the foot part of the tested artificial limb is in a working state of heel contact;

driving the bionic thigh (2) by the industrial robot (1), enabling the ground reaction module (3) to be located below the foot of the tested artificial limb, enabling a force measuring plate (310) of the ground reaction module (3) to be in contact with the heel of the foot of the tested artificial limb, and enabling the state to be the corresponding position of the artificial limb knee joint testing device when the tested artificial limb is located at the initial position of the gait cycle of the uphill slope and the downhill slope;

step four, starting from the initial position of the gait cycle of the artificial limb to be tested on the uphill slope and the downhill slope, firstly entering a supporting phase, when the artificial limb to be tested is in the supporting phase, driving the bionic thigh (2) to perform the action of the supporting phase by the industrial robot (1), namely swinging backwards and forwards in the sagittal plane according to the angular velocity of the human motion, correspondingly moving the artificial limb to be tested according to the action of the supporting phase when the human body is on the uphill slope and the downhill slope, simultaneously driving the bionic thigh (2) to translate in the horizontal direction and the vertical direction by the industrial robot (1), ensuring that the force measuring plate (310) is always contacted with the foot of the artificial limb to be tested under the cooperative work of the ground reaction force module (3) and the industrial robot (1), adjusting the damping force when the artificial limb to be tested works by the ball screw mechanism of the ground reaction force module (3) through adjusting the working height of the force measuring plate (310), and further adjusting the ground borne by the foot of the artificial limb to be tested, the ground reaction force borne by the foot of the tested artificial limb is ensured to be consistent with the ground reaction force borne by a normal person when the person goes up and down a slope; the industrial robot (1) drives the bionic thigh (2) to move, a force measuring plate (310) of the ground reaction force module (3) is kept below the foot of the tested artificial limb all the time, the foot of the tested artificial limb is always stepped on the force measuring plate (310), the whole process that the foot of the tested artificial limb is contacted with the force measuring plate (310) from the heel to the whole sole is changed into the contact with the force measuring plate (310) and then changed into the contact between the toe and the force measuring plate (310), and the supporting phase is ended when the force measuring plate (310) is separated from the foot of the tested artificial limb, and the bionic thigh enters a swinging phase;

when the artificial limb is in the swing phase, the industrial robot (1) drives the bionic thigh (2) to perform the motion of the swing phase, namely, the artificial limb to be tested swings forwards in a sagittal plane according to the angular velocity of the motion of the human body, the artificial limb to be tested correspondingly moves up and down the slope, meanwhile, the industrial robot (1) drives the bionic thigh (2) to translate in the horizontal direction and the vertical direction, when the motion of the swing phase is finished, the artificial limb to be tested returns to the initial position of the gait cycle of the up-and-down slope, the industrial robot (1) drives the bionic thigh (2) to move to the corresponding position when the artificial limb to be tested is at the initial position of the gait cycle of the up-and-down slope, the force measuring plate (310) is also driven by the ball screw mechanism of the ground reaction module (3) to the corresponding position when the artificial limb to be tested is at the initial position of the gait cycle of the up-and-down slope, when the artificial limb to be tested completes the motion of the swing phase, the foot of the artificial limb to be tested also moves to the initial position of the gait cycle of the up-and down slope, namely, the heel of the foot of the tested artificial limb is contacted with the force measuring plate (310), the swing phase is finished, the gait cycle is finished, meanwhile, the next gait cycle is started, the step four is repeated, and the working state of the tested artificial limb is simulated when the person walks on the slope.

7. The method for testing the knee joint prosthesis to be tested by using the lower limb prosthesis knee joint testing device based on the industrial robot as claimed in any one of claims 1 to 4 is characterized by comprising the following steps:

fixing a tested artificial limb on an artificial limb connecting disc (205) of a bionic thigh (2), adjusting the bionic thigh (2) to a corresponding angle according to different lengths and test requirements of the tested artificial limb, and adjusting the tested artificial limb to an upper stair gait cycle initial position, namely bending a knee joint of the tested artificial limb to a corresponding angle, so that a lower leg of the tested artificial limb is parallel to the vertical direction;

secondly, the industrial robot (1) drives the bionic thigh (2) to enable the ground reaction module (3) to be located under the foot of the tested artificial limb, and a ball screw mechanism of the ground reaction module (3) brings the force measuring plate (310) to the top end position, so that the sole of the foot of the tested artificial limb is completely stepped on the force measuring plate (310), and the position is an initial position of the knee joint artificial limb testing device when the tested artificial limb is located at an initial position of a stair walking period;

step three, starting from the initial position of the gait cycle of climbing stairs, firstly entering a supporting phase, driving the bionic thigh (2) to swing backwards in the sagittal plane according to the angular velocity of the human body by the industrial robot (1), correspondingly moving the detected artificial limb according to the action of the human body on the stair supporting phase, simultaneously driving the bionic thigh (2) to translate in the horizontal direction by the industrial robot (1), ensuring that the force measuring plate (310) of the ground reaction force module (3) is always positioned below the foot of the detected artificial limb, keeping the whole sole of the foot of the detected artificial limb stepping on the force measuring plate (310) in the moving process, simultaneously driving the force measuring plate (310) to move downwards by the ball screw mechanism of the ground reaction force module (3), measuring the ground reaction force generated by the force measuring plate (310) and the foot of the detected artificial limb through the tension and pressure sensor (311), adjusting the working position of the force measuring plate (310) by the ground reaction force module (3) according to the size of the ground reaction force, therefore, the ground counterforce borne by the tested artificial limb is adjusted to be consistent with the ground counterforce of a normal person when the tested artificial limb goes upstairs all the time until the bionic thigh (2) is parallel to the vertical direction and the bending angle of the knee of the tested artificial limb is zero, the process simulates the action of a stair-climbing walking supporting phase, then, the industrial robot (1) drives the bionic thigh (2) to swing backwards in a sagittal plane according to the angular velocity of the motion of the human body, meanwhile, the industrial robot (1) drives the bionic thigh (2) to move horizontally, the foot of the tested artificial limb is naturally separated from the force measuring plate (310), the supporting phase is finished, the tested artificial limb enters a swinging phase, the industrial robot (1) drives the bionic thigh (2) to move in the swinging phase and swings forwards in the sagittal plane according to the angular velocity of the motion of the human body, the tested artificial limb correspondingly moves according to the action of the human body when the stair-climbing, meanwhile, the industrial robot (1) drives the bionic thigh (2) to move horizontally and vertically, when the tested artificial limb returns to the initial position of the stair climbing gait cycle, the knee joint artificial limb testing device also returns to the corresponding initial position when the tested artificial limb is positioned at the initial position of the stair climbing gait cycle, at the moment, the foot part of the tested artificial limb is contacted with the force measuring plate (310) again, the swing phase is finished, the gait cycle is finished, the next gait cycle is started, and the step three is repeatedly operated, so that the tested artificial limb is tested in the stair climbing mode.

8. The method for the stair descending test of the tested knee joint prosthesis by using the industrial robot-based knee joint test device for the lower limb prosthesis of any one of claims 1 to 4 is characterized by comprising the following steps:

fixing a tested artificial limb on an artificial limb connecting disc (205) of a bionic thigh (2), wherein the bionic thigh (3) is parallel to the vertical direction, the knee joint bending angle of the tested artificial limb is 0, the knee joint is completely straightened, and the lower leg of the tested artificial limb is parallel to the vertical direction and is the initial position of the step state period of the tested artificial limb going down the stair;

step two, the industrial robot (1) drives the bionic thigh (2) to enable a force measuring plate (310) of the ground reaction module (3) to be in contact with the full sole of the foot of the tested artificial limb, the tested artificial limb shank is perpendicular to the force measuring plate (310), and the state is an initial position corresponding to the knee joint artificial limb testing system when the tested artificial limb is located at the initial position of the step state period of the descending stair;

step three, the artificial limb to be tested starts from the initial position of the stair descending step state period, firstly enters a supporting phase, an industrial robot (1) drives the bionic thigh (2) to swing backwards in a sagittal plane according to the angular velocity of the human body movement, the artificial limb to be tested installed on the bionic thigh (2) correspondingly moves according to the action of the human body in the stair descending supporting phase, and the knee joint movement of the human body during stair descending is simulated; meanwhile, the industrial robot (1) drives the bionic thigh (2) to translate in the horizontal direction, so that the foot of the tested artificial limb is always stepped on the force measuring plate (310), meanwhile, a ball screw mechanism of the ground reaction module (3) drives the force measuring plate (310) to move upwards, ground reaction force generated by the force measuring plate (310) and the foot of the tested artificial limb is measured through the tension and compression sensor (311), the working position of the force measuring plate (310) is adjusted through the ground reaction force module (3) according to the size of the ground reaction force, so that the ground reaction force borne by the tested artificial limb is adjusted to be consistent with the ground reaction force generated when a normal person goes down stairs, the bionic thigh (2) is adjusted to a corresponding angle according to the length of the tested artificial limb and the test requirement, the knee joint of the tested artificial limb is bent to a corresponding angle, the tested artificial limb simulates the action of a walking support phase of going down stairs, and then the bionic thigh (2) is continuously driven by the industrial robot (1) to move backwards according to the sagittal velocity of the human motion in the angle in the plane Swinging, the tested artificial limb continues to act, meanwhile, the industrial robot (1) drives the bionic thigh (2) to translate in the horizontal direction and the vertical direction, the tiptoe of the foot of the tested artificial limb is separated from the force measuring plate (310), the supporting phase is finished, and the tested artificial limb enters a swinging phase;

the industrial robot (1) drives the bionic thigh (2) to perform the motion of the swing phase, the bionic thigh (2) swings forwards in a sagittal plane according to the angular velocity of the motion of the human body, the tested artificial limb correspondingly moves according to the motion of the human body in the swing phase of going downstairs, meanwhile, the industrial robot (1) drives the bionic thigh (2) to translate in the horizontal direction and the vertical direction, when the tested artificial limb returns to the initial position of the step state period of the downstairs, the knee joint artificial limb testing device also returns to the initial position corresponding to the tested artificial limb when the tested artificial limb is at the initial position of the step state period of the downstairs, at the moment, the foot of the tested artificial limb is contacted with the force measuring plate (310) again, the swing phase is finished, the step period of the gait is finished, the next step of the gait period is started, and the step three is repeated in such a way, and the tested downstairs are tested.