Verification Method of Intelligent Prosthetic Algorithm Based on Anthropomorphic Walking Robot

A key issue in the research of intelligent prosthetics is the verification and analysis of the proposed prosthetic motion planning and control methods. In this paper, it is proposed that using a humanoid walking robot as the subject can effectively test the interaction dynamics between the prosthesis and the human body. This method also avoids the risk of injury to amputee patients when participating in the test before the control method is mature. Specifically, the anthropomorphic walking of bipedal walking robots is first realized, and a testbed that fully simulates the straight leg walking is obtained. The right leg (below the thigh) of the bipedal robot is then replaced with an intelligent prosthesis. When testing the planning and control methods of intelligent prosthetics, prosthetic controllers run independently. The bipedal walking robot, except for the part below the right thigh, normally performs the “humanoid motion controller”. Effective intelligent prosthetic control methods will make the prosthesis-“human” coupling system produce smooth walking movements, while ineffective intelligent prosthetic control will cause the coupling system to fall due to strong interference.