机器人2026，Vol.48Issue(2)：395-413,19.DOI:10.13973/j.cnki.robot.250148
动力大腿假肢控制技术研究进展及发展趋势
Research Progress and Development Trend of Powered Transfemoral Prosthesis Control Technology
摘要
Abstract
Powered transfemoral prostheses can significantly enhance the mobility and quality of life for lower-limb amputees by restoring natural walking functions in daily activities.This paper comprehensively reviews the current research status and development trends in control technologies for powered transfemoral prostheses,with particular focus on control methodologies,sensing systems,control frameworks,and application challenges.Firstly,the fundamental working principles and design objectives of powered transfemoral prostheses at home and abroad are introduced,and the main challenges of current control technologies are analyzed,such as improving gait symmetry,reducing energy consumption,and enhancing adaptability.Secondly,various sensors commonly employed in prostheses are explored,including six-axis force sensors,inertial measurement units(IMUs),and electromyography(EMG)sensors,and their roles in improving control accuracy and environmental adaptability are discussed.Subsequently,the hierarchical control framework is systematically summarized,including the estimation methods for user states and environmental information in high-level controllers,different mid-level control strategies based on impedance models versus reference trajectories,and recent advancements in human-in-the-loop optimization.The advantages and limitations of various mid-level control approaches in practical applications are critically discussed.Finally,future development directions in prosthesis control technology are prospected,particularly highlighting research prospects in personalized adjustment,intelligent control,and adaptability enhancement.关键词
动力大腿假肢/分层控制/智能控制Key words
powered transfemoral prosthesis/hierarchical control/intelligent control引用本文复制引用
马腾,王毓萱,侯志民,付成龙..动力大腿假肢控制技术研究进展及发展趋势[J].机器人,2026,48(2):395-413,19.基金项目
国家自然科学基金联合基金(U1913205). （U1913205）
