CN103989542A - Handheld adjusting device for adjustment of intelligent knee joint artificial limb - Google Patents

Abstract

The present invention is a hand-held debugging device for intelligent knee joint prosthesis debugging, which relates to a prosthetic knee joint, including a housing, a microprocessor module, a minimum system circuit, a storage module, a Bluetooth transmission module, a power supply module, and a display and debugging interface module. An open source Linux system is embedded and an application program is designed to make the hand-held debugging device for intelligent knee joint prosthetics work normally. The present invention uses a microprocessor as a controller, uses a touch screen instead of a mouse and keyboard as a human-machine input and output interaction device, uses wireless Bluetooth instead of wired communication between devices, and uses a finger or a touch pen to issue control commands, which overcomes the problem of intelligent artificial limbs in the prior art. In the actual use process, there is no suitable debugging device. The debugging mode of the debugging device and the smart prosthetic end using a wired connection is likely to restrict the activity space of the wearer and affect the quality of the specified debugging action, so that accurate debugging cannot be implemented.

Description

Handheld Debugging Device for Smart Knee Prosthesis Debugging

technical field

The technical solution of the invention relates to a prosthetic knee joint, in particular to a hand-held debugging device for debugging an intelligent knee prosthesis.

Background technique

The intelligent knee joint prosthesis is the core component of the intelligent prosthesis. It has the function of intelligently switching between fast, medium and slow speeds. It only needs to be adjusted once before leaving the factory, so that it can be automatically constant at the required setting. value. CN201110456535.6 discloses "the control method of prosthetic knee joint movement", the design only judges the gait of the knee joint and implements control through the Hall sensor, but once the control amount is determined, it cannot be changed; CN201210417780.0 discloses a dynamic prosthetic knee The joints can effectively identify different motion patterns of the lower limbs, and then realize the man-machine coordinated motion control of the lower limb prosthetic system. However, different disabled users have inconsistent requirements for speed gears, which requires specialized relevant technical personnel to understand each intelligent prosthesis. Make targeted adjustments. The above-mentioned prior art also lacks a suitable debugging device during actual use. If a personal computer is used as a debugger, it is not only bulky and costly, but also needs to memorize complex instructions, which invisibly increases the requirements for debuggers, and the debugging mode of a wired connection with the smart prosthesis tends to restrict the activity space of the wearer , which affects the quality of completing the specified debugging actions, so that accurate debugging cannot be implemented.

Contents of the invention

The technical problem to be solved by the present invention is to provide a hand-held debugging device for intelligent knee joint prosthesis debugging, which uses a microprocessor as a controller, replaces the mouse and keyboard with a touch screen as a human-computer input and output interactive device, and uses wireless Bluetooth instead of the device Wired communication between devices, using fingers or touch pens to issue debugging commands, overcomes the lack of suitable debugging devices in the actual use of smart prostheses in the prior art, and the debugging mode of debugging devices and smart prosthetics using wired connections is easy to restrain the wearer The activity space affects the quality of completing the specified debugging actions, so that it is impossible to implement accurate debugging defects.

The technical solution adopted by the present invention to solve the technical problem is: a hand-held debugging device for debugging intelligent knee joint prostheses, including a housing, a microprocessor module, a minimum system circuit, a storage module, a Bluetooth transmission module, a power supply module and a display and Debugging interface module, the device is embedded with open source Linux system; among them, the microprocessor module is based on ARM9 architecture S3C2440 as the core processor, the minimum system circuit includes switch circuit, power supply circuit, reset circuit and crystal oscillator circuit, and the storage module is based on K9F1208 chip Nand Flash as the core, the Bluetooth transmission module includes a Bluetooth encoding and decoding circuit and a Bluetooth transceiver circuit, the power supply module includes a boost module and a voltage detection module, and the display and debugging interface module includes a display screen and a touch screen; a microprocessor module, a storage module, a Bluetooth Both the transmission module and the power supply module are placed in the casing, and the display and touch screen in the display and debugging interface module are inlaid on the top of the casing. The microprocessor module, storage module, Bluetooth transmission module, power supply module and display and debugging The interface module is integrated into a circuit board and connected to each other. The switch circuit, power circuit, reset circuit and crystal oscillator circuit are all connected to the microcontroller. The data line and address line of the storage module are connected to the microcontroller, and the Bluetooth codec circuit and Bluetooth transceiver. The circuits are connected to each other, and respectively connected to the microcontroller, the boost module and the voltage detection module are connected to each other, and respectively connected to the microcontroller, the display screen and the touch screen are respectively connected to the microcontroller, and the The display and debugging interface formed by the display screen and touch screen is divided into a display area and a functional area. The upper part of the display and debugging interface is the display area, and the display area includes two tables. The upper table is the opening of the intelligent prosthesis. The opening of the smart prosthesis is divided into three gears: fast, medium and slow. The table below shows the critical cycle value of the speed gear of the smart prosthetic knee joint. The critical cycle value of the speed gear of the smart prosthetic knee joint is divided into two One gear, one is the critical value of the medium-speed gear and the fast gear recorded as the "medium-fast boundary", and the other is the critical value of the slow gear and the medium-speed gear recorded as the "slow-medium boundary". Value, located at the lower part of the display and debugging interface is the functional area, which is composed of four virtual keys, namely "+" virtual key, "-" virtual key, "send" virtual key and "receive" virtual key. A working light and a charging light are installed on the lower right edge of the shell, and a switch and a power port are set on one side of the shell. Based on the above-mentioned embedded open source Linux system as a platform, an application program for the normal operation of the hand-held debugging device for intelligent knee prosthesis debugging is designed. .

In the above hand-held debugging device for debugging intelligent knee joint prostheses, the housing is a cuboid with elliptical angles, the length is 10.0cm-15.0cm, the width is 10.0cm-12.0cm, and the height is 2.5cm-3.5cm.

In the above hand-held debugging device for debugging intelligent knee joint prostheses, the display screen and touch screen are LCD display screen and resistive touch screen respectively.

In the above hand-held debugging device for debugging intelligent knee joint prostheses, the working light is a green light when it is working, and the charging light is a red light when it is working.

The above-mentioned hand-held debugging device for intelligent knee prosthesis debugging, the process of the application program for the normal operation of the handheld debugging device for intelligent knee prosthesis debugging is as follows:

Start→Display the debugging interface→Go to sleep→Are you awakened? return to sleep; Analyze touch events → "+" touch event issued by the virtual key? Execute the "+" operation → update the result to the corresponding display block on the debugging interface → end; "-" touch event issued by the virtual key? Execute "-" operation → update the result to the corresponding display block on the debugging interface → end; "Sending" touch events from virtual keys? Execute the "send" operation → send to the Bluetooth decoding and encoding circuit 101 for encoding, and then send it to the intelligent prosthesis by the Bluetooth transceiver circuit 102 → end; "Receive" touch events from virtual keys? Execute the "receive" operation → update the result to the corresponding display block on the debugging interface → end; Return to sleep.

The components and circuits involved in the above-mentioned handheld debugging device for debugging intelligent knee prostheses are well known, and the installation and connection of all components and circuits are also within the grasp of those skilled in the art.

The beneficial effects of the present invention are: compared with the prior art, the hand-held debugging device for intelligent knee joint prosthesis debugging of the present invention has the following prominent substantive features and significant progress:

(1) The present invention uses a microprocessor as a microcontroller, replaces a mouse and keyboard with a touch screen as a human-computer input and output interactive device, replaces wired communication between devices with wireless bluetooth, and sends a debugging command with a finger or a touch pen, which overcomes existing problems. Under the current technology, the smart prosthesis lacks a suitable debugging device in the actual use process. The debugging mode of the debugging device and the smart prosthetic end adopting a wired connection is likely to restrict the activity space of the wearer and affect the quality of the specified debugging action, so that it is impossible to implement accurate debugging. defect.

(2) The present invention is a handheld debugging device, which uses wireless bluetooth to transmit data, making debugging more flexible and convenient, and greatly improving the quality and speed of the knee joint prosthetic wearer completing specified debugging actions.

(3) The display screen of the present invention is used in conjunction with the touch screen. The touch screen can be convenient for users to control more intuitively and reduce the difficulty of debugging. Through the manual, non-professionals can also grasp all the debugging instructions that need to be issued, and the data can be displayed through the LCD directly displayed on the screen, the result is more intuitive.

(4) The present invention adopts a high-reliability ARM architecture microprocessor as the microcontroller, which has rapid response and strong anti-interference performance.

(5) Under the Linux operating system, the present invention adopts multi-thread thinking to design a debugging program, so that the software is stable and efficient, and is not easy to collapse.

(6) The present invention saves setting data and measurement data through the K9F1208Nand Flash chip in the storage module, and has a power-off memory function.

(7) The present invention integrates all components and the entire circuit into a hand-held housing, which is convenient for users to carry.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is a schematic block diagram of the main body of the present invention.

Fig. 2 is a schematic top view of the display and debugging interface on the front surface of the casing of the present invention.

Fig. 3 is a schematic diagram of a side of the casing provided with a switch and a power port according to the present invention.

FIG. 4 is a schematic flow chart of the application program of the hand-held debugging device for debugging intelligent knee prostheses according to the present invention.

In the figure, 1. Housing, 3. Working light, 4. Charging light, 5. Display and debugging interface, 6. Switch, 7. Power port, 8. Microprocessor module, 9. Minimum system circuit, 91. Switch Circuit, 92. Power circuit, 93. Reset circuit, 94. Crystal oscillator circuit, 10. Bluetooth transmission module, 101. Bluetooth encoding and decoding circuit, 102. Bluetooth transceiver circuit, 11. Power module, 111. Boost module, 112. Voltage detection Module, 12. Display and debugging interface module, 121. Display screen, 122. Touch screen, 13. Storage module, 51. Display area, 52. Function area, 511. Opening degree of intelligent prosthesis, 512. Fast, 513. Medium speed, 514. Slow speed, 515. Intelligent prosthetic knee joint speed gear critical cycle value, 516. Medium-fast boundary, 517. Slow-medium boundary, 521. "+" virtual button, 522. "-" virtual button, 523. "Send "Virtual Key," 524. "Receive" virtual key.

Detailed ways

The embodiment shown in Fig. 1 shows that the main body of the hand-held debugging device for intelligent knee joint prosthesis debugging of the present invention comprises a microprocessor module 8, a minimum system circuit 9, a storage module 13, a bluetooth transmission module 10, a power supply module 11 and a display And debugging interface module 12; Wherein, microprocessor module 8 is the S3C2440 microprocessor that adopts ARM9 framework, and minimum system circuit 9 includes switch circuit 91, power supply circuit 92, reset circuit 93 and crystal oscillator circuit 94, bluetooth transmission module 10 includes bluetooth Encoding and decoding circuit 101 and bluetooth transceiver circuit 102, power supply module 11 includes boost module 111 and voltage detection module 112, display and debugging interface module 12 includes display screen 121 and touch screen 122; microprocessor module 8, storage module 13, bluetooth transmission Module 10, power supply module 11 and display and debugging interface module 12 are integrated in a circuit board and are connected to each other, and switch circuit 91, power supply circuit 92, reset circuit 93 and crystal oscillator circuit 94 are all connected to microcontroller module 8, storage module 13 The data line and the address line are connected to the microcontroller module 8, the Bluetooth encoding and decoding circuit 101 is connected to the Bluetooth transceiver circuit 102, and is connected to the microcontroller module 8 respectively, and the boost module 111 is connected to the voltage detection module 112. , and are connected to the microcontroller module 8 respectively, and the display screen 121 and the touch screen 122 are connected to the microcontroller module 8 respectively.

Above-mentioned microcontroller module 8 is the S3C2440 microprocessor that adopts ARM9 framework, and it is connected with all circuits of bluetooth transmission module 10 and display and debugging interface module 12 as main control chip, provides control signal; The switch circuit that minimum system circuit 9 comprises 91. The power supply circuit 92, the reset circuit 93 and the crystal oscillator circuit 94 are all connected to the microcontroller module 8 to ensure that the microcontroller module 8 can work normally; the Bluetooth transmission module 10 can communicate with the intelligent knee prosthesis, and the Bluetooth encoding and decoding circuit 101 Connect with the bluetooth transceiver circuit 102, and link to each other with the microcontroller module 8, on the one hand, the bluetooth encoding and decoding circuit 101 accepts the control instruction of the microcontroller module 8 and sends it to the bluetooth sending circuit 102; on the other hand, the bluetooth encoding and decoding circuit 101 receives the data from the Bluetooth transceiver circuit 102 and sends it to the microcontroller module 8; the boost module 111 is used to boost the battery voltage and provide the voltage to other modules and circuits. It is to collect the battery voltage, and provide it to the microcontroller module 8 through AD conversion, so as to monitor the battery power in real time. When the battery voltage value is lower than the set value, the microcontroller module 8 will send a low battery voltage through the above-mentioned display screen 121. Report to remind the user to charge or replace the power supply; the display and debugging interface module 12 can display the debugging interface and receive the debugging command. (referring to Fig. 2) shows, touch screen 122 adopts resistive touch screen, provides the touch event of corresponding position on display and debugging interface 5 (referring to Fig. 2) to microcontroller module 8; Storage module 13 is used for storing preset The data and the data to be saved after the measurement, even if the power is cut off during the measurement or after the measurement, the relevant data information can still be saved; the built-in power supply module 11 enables the handheld debugging device to be carried to places that various debugging personnel can reach For debugging, the voltage detection module 112 detects the battery power in real time and inputs the detection result to the microprocessor module 8 .

The embodiment shown in Fig. 2 shows that the display and debugging interface 5 displayed by display screen 121 and touch screen 122 on the front surface of the housing 1 of the hand-held debugging device for intelligent knee joint prosthesis debugging of the present invention is divided into display areas 51 and functional area 52, wherein the display area 51 is located at the top of the display and debugging interface 5, and the display area 51 includes two tables. , medium speed 513 and slow speed 514. The table below shows the critical period value 515 of the speed gear of the intelligent prosthetic knee joint. There are two stalls in the middle boundary 517, located at the lower part of the display and debugging interface 5 is the function area 52, the function area 52 is composed of four virtual buttons, namely "+" virtual button 521, "-" virtual button 522, "send" A virtual button 523 and a "receive" virtual button 524. The lower right edge of the housing 1 is equipped with a working light 3 and a charging light 4.

The above-mentioned display and debugging interface 5 is a working interface presented on the display screen 121 after the debugging equipment is started, and is used to display all working parameters of the intelligent knee joint prosthesis, and receive debugging commands through the touch screen 122; the working light 3 is green when it is working, The charging light 4 is a red light when it works. The “+” virtual key 521 , the “-” virtual key 522 , the “send” virtual key 523 and the “receive” virtual key 524 cooperate with the touch screen 122 to jointly receive touch commands from the debugger.

The specific way of using the above-mentioned display and debugging interface 5 is, if you change the speed of the fast mode, you can click the fast 512, "+" virtual button 521 and "-" virtual button 522 in sequence, and the set value is displayed in the display area 51, The values of medium speed 513 , slow speed 514 , medium-fast boundary 516 and slow-medium boundary 517 can also be changed sequentially. Click the "send" virtual button 523 to send the above debugging values to the intelligent prosthesis. In addition, anytime the virtual button 524 of “Receive” is clicked, the working information of the intelligent prosthesis will be read out and displayed at the corresponding position of the display and debugging interface 5 .

The embodiment shown in FIG. 3 shows that a switch 6 and a power port 7 are provided on one side of the housing 1 of the hand-held debugging device for debugging intelligent knee joint prostheses of the present invention. The power port 7 is connected to an external 5v DC power supply to charge the internal battery of the device when needed.

The embodiment shown in Fig. 4 shows that the program operation flow for debugging the intelligent knee joint prosthesis of the present invention is as follows:

Start→Display the debugging interface→Go to sleep→Are you awakened? return to sleep; Analyze touch events → "+" touch event issued by the virtual key? Execute the "+" operation → update the result to the corresponding display block on the debugging interface → end; "-" touch event issued by the virtual key? Execute "-" operation → update the result to the corresponding display block on the debugging interface → end; "Sending" touch events from virtual keys? Execute the "send" operation → send to the Bluetooth decoding and encoding circuit 101 for encoding, and then send it to the intelligent prosthesis by the Bluetooth transceiver circuit 102 → end; "Receive" touch events from virtual keys? Execute the "receive" operation → update the result to the corresponding display block on the debugging interface → end; Return to sleep.

The above program operation process is explained in more detail as follows:

(1) The application program is initialized, the allocation of video memory is completed, the touch thread for capturing touch events is created, and the debugging interface is displayed;

(2) Go to sleep, reduce power consumption, and wait for the touch command of the debugger;

(3) Analyze the touch command and form it into debugging information;

(4) If the touch event comes from the "+" virtual button 521, and the "+" operation is executed, the corresponding selected label will be selected, namely fast 512, medium speed 513, slow speed 514, medium-fast boundary 516 and slow-medium boundary 517 Add 1 to the variable value, and update the value after adding 1 to the corresponding display block on the debugging interface;

(5) If the touch event from the "-" virtual button 522 is executed, the "-" operation will be performed, and the corresponding selected label will be selected, namely fast 512, medium speed 513, slow speed 514, medium-fast boundary 516 and slow-medium boundary 517 Subtract 1 from the value of the variable, and update the value after subtracting 1 to the corresponding display block on the debugging interface;

(6) If the touch event comes from the "send" virtual button 523, and the "send" operation is executed, the corresponding selected labels will be displayed, namely fast 512, medium speed 513, slow speed 514, medium-fast boundary 516 and slow-medium boundary 517 The value is combined into a debugging command, sent to the Bluetooth decoding and encoding circuit 101 for encoding, and then sent to the intelligent prosthesis by the Bluetooth transceiver circuit 102;

(7) If the touch event from the "receive" virtual button 524 is received, the data sent by the smart prosthesis will be accepted from the Bluetooth transceiver circuit 102, and decoded by the Bluetooth decoding and encoding circuit 101, and the "receiving" operation is performed, and then the data Update to the corresponding selected label, that is, fast 512 , medium speed 513 , slow speed 514 , medium-fast boundary 516 and slow-medium boundary 517 .

Example 1

According to the embodiment shown in the above-mentioned Fig. 1, Fig. 2 and Fig. 3, the hand-held debugging device for intelligent knee joint prosthesis debugging of the cost embodiment is assembled: it includes a housing 1, a microprocessor module 8, a minimum system circuit 9, and a storage module 13 , bluetooth transmission module 10, power supply module 11 and display and debugging interface module 12, and embedded open source Linux system in this device, have designed the hand-held debugging that can be used for intelligent knee prosthesis debugging with this embedded open source Linux system as platform The application program of device normal work; Wherein, microprocessor module 8 is the processor with ARM9 architecture S3C2440 as the core, when the hand-held debugging device that is used for intelligent knee joint prosthesis debugging works normally, microprocessor module 8 can enable The hand-held debugging device that is used for intelligent knee joint prosthetic debugging runs normally through the application process of the application program. The minimum system circuit 9 includes a switch circuit 91, a power supply circuit 92, a reset circuit 93 and a crystal oscillator circuit 94. The storage module 13 is based on a K9F1208 chip. Core Nand Flash, bluetooth transmission module 10 includes bluetooth encoding and decoding circuit 101 and bluetooth transceiver circuit 102, power module 11 includes boost module 111 and voltage detection module 112, display and debugging interface module 12 includes display screen 121 and touch screen 122; The processor module 8, the storage module 13, the Bluetooth transmission module 10 and the power supply module 11 are all arranged in the housing 1, and the display screen 121 and the touch screen 122 in the display and debugging interface module 12 are embedded on the upper surface of the housing 1 , the microprocessor module 8, the memory module 13, the Bluetooth transmission module 10, the power supply module 11 and the display and debugging interface module 12 are integrated into a circuit board and connected to each other, the switch circuit 91, the power supply circuit 92, the reset circuit 93 and the crystal oscillator circuit 94 are all connected with the microprocessor module 8, the data line and the address line of the storage module 13 are connected with the microprocessor module 8, and the bluetooth encoding and decoding circuit 101 is connected with the bluetooth transceiver circuit 102, and is connected with the microprocessor module 8 respectively , the booster module 111 is connected to the voltage detection module 112, and is connected to the microprocessor module 8 respectively. The display and debugging interface 5 formed by 121 and touch screen 122 is divided into a display area 51 and a functional area 52, wherein the upper part of the display and debugging interface 5 is the display area 51, and the display area 51 includes two tables. The upper table is The intelligent prosthesis opening 511, the intelligent prosthesis opening 511 is divided into three gears: fast 512, medium speed 513 and slow 514, the table below is the critical period value 515 of the intelligent prosthetic knee joint speed gear, the intelligent prosthetic knee The critical cycle value 515 of the joint speed gear is divided into two gears: the medium-fast boundary 516 and the slow-medium boundary 517. The function area 52 is located at the lower part of the display and debugging interface 5. The function area 52 is composed of four virtual buttons, which are respectively "+" virtual button 521, "-" virtual button 522, "send" virtual button key 523 and “receive” virtual key 524 , a working light 3 and a charging light 4 are installed on the lower right edge of the casing 1 , and a switch 6 and a power port 7 are arranged on one side of the casing 1 .

The flow of the application program of the hand-held debugging device for debugging intelligent knee prosthesis in this embodiment that works normally in the handheld debugging device for debugging intelligent knee prosthesis is shown in FIG. 4 in the embodiment.

The housing of the hand-held debugging device used for intelligent knee prosthesis debugging in this embodiment is a cuboid with elliptical angles, its length is 10.0 cm, its width is 10.0 cm, and its height is 2.5 cm; the microcontroller adopts an ARM architecture microcontroller ;The display screen and touch screen are LCD display screen and resistive touch screen respectively; when the working light is working, the light is green, and when the charging light is working, it is red light.

The specific use of the display and debugging interface 5 of the handheld debugging device for debugging intelligent knee joint prostheses in this embodiment is that if you change the speed of the fast mode, you can click the fast 512, "+" virtual button 521 and "-" in sequence The virtual key 522, displayed in the setting value display area 51, can also change the values of the middle speed 513, the slow speed 514, the middle-fast boundary 516 and the slow-medium boundary 517 in sequence. Click the "send" virtual button 523 to send the above debugging values to the intelligent prosthesis. In addition, anytime the virtual button 524 of “Receive” is clicked, the working information of the intelligent prosthesis will be read out and displayed at the corresponding position of the display and debugging interface 5 .

Example 2

Except that the housing of the hand-held debugging device for debugging intelligent knee joint prostheses in this embodiment is a cuboid with elliptical angles, its length is 12.5 cm, width is 11.0 cm, and height is 3.0 cm. Others are the same as embodiment 1.

Example 3

Except that the housing of the hand-held debugging device for debugging intelligent knee joint prostheses in this embodiment is a cuboid with elliptical angles, its length is 15.0 cm, width is 12.0 cm, and height is 3.5 cm. Others are the same as embodiment 1.

The components and circuits involved in the above embodiments are well known, and the installation and connection of all components and circuits are within the grasp of those skilled in the art.

Claims (5)

1. the hand-held debugging apparatus of debugging for intelligent knee joint artificial limb, it is characterized in that: comprise housing, microprocessor module, minimum system circuit, memory module, Bluetooth transmission module, power module and demonstration and debugging interface module, this device has embedded open source linux system, wherein, microprocessor module is taking ARM9 framework S3C2440 as core processor, minimum system circuit comprises on-off circuit, power circuit, reset circuit and crystal oscillating circuit, memory module is the Nand Flash taking K9F1208 chip as core, Bluetooth transmission module comprises bluetooth coding and decoding circuit and bluetooth transmission circuit, power module comprises boost module and voltage detection module, shows and debug interface module to comprise display screen and touch screen, microprocessor module, memory module, Bluetooth transmission module and power module are all placed in housing, show and the display screen of debugging in interface module and touch screen be embedded in housing just above on, microprocessor module, memory module, Bluetooth transmission module, power module and demonstration and debugging interface module are integrated in a circuit board connected with each other, on-off circuit, power circuit, reset circuit is all connected with microcontroller with crystal oscillating circuit, data wire and the address wire of memory module are connected in microcontroller, between bluetooth coding and decoding circuit and bluetooth transmission circuit, be connected, be connected with microcontroller respectively again, between boost module and voltage detection module, be connected, be connected with microcontroller respectively again, display screen is connected with microcontroller respectively with touch screen, housing just above on the demonstration being formed by display screen and touch screen and debug interface and be divided into viewing area and functional areas, wherein be positioned at and show and debug top, interface to be viewing area, this viewing area comprises again two forms, the form of top is intelligent artificial limb aperture, this intelligent artificial limb aperture is divided into fast, middling speed and at a slow speed three gears, following form is intelligent artificial limb knee joint speed stage critical period value, this intelligent artificial limb knee joint speed stage critical period value is divided into two gears, remembered into the middling speed gear of " in soon boundary " and the marginal value of gear fast for one, another is remembered into the gear at a slow speed of " boundary in slow " and the marginal value of middling speed gear, be positioned at and show and debug bottom, interface to be functional areas, these functional areas are made up of four virtual keys, it is respectively "+" virtual key, "-" virtual key, " transmission " virtual key and " reception " virtual key, the bottom right edge of housing is provided with work light and rechargeable lamp, housing one side is provided with switch and power port, taking the open source linux system of above-mentioned embedding as Platform Designing allow application program for the normal work of hand-held debugging apparatus of intelligent knee joint artificial limb debugging.

2. according to claim 1 for the hand-held debugging apparatus of intelligent knee joint artificial limb debugging, it is characterized in that: described housing is the cuboid that is oval angle, it is long is 10.0cm～15.0cm, and wide is 10.0cm～12.0cm, and height is 2.5cm～3.5cm.

3. according to claim 1 for the hand-held debugging apparatus of intelligent knee joint artificial limb debugging, it is characterized in that: described display screen and touch screen are respectively LCD display and resistor-type touch screen.

4. according to claim 1 for the hand-held debugging apparatus of intelligent knee joint artificial limb debugging, it is characterized in that: when described work light work, being green light, is red light when rechargeable lamp work.

5. according to claim 1 for the hand-held debugging apparatus of intelligent knee joint artificial limb debugging, it is characterized in that: the flow process of the application program of the described normal work of hand-held debugging apparatus for the debugging of intelligent knee joint artificial limb is as follows:

Start → show debugging interface → enter sleep → be waken up? return and enter sleep; analyze the touch event that touch event → "+" virtual key sends? execution "+" operation → result is updated to the debugging corresponding displaying block place → end in interface; the touch event that "-" virtual key sends? execution "-" operation → result is updated to the debugging corresponding displaying block place → end in interface; the touch event that " transmission " virtual key sends? execution " transmission " operates → sends to bluetooth decoding and coding circuit 101 and encodes, and sends to intelligent artificial limb → end afterwards by bluetooth transmission circuit 102; the touch event that " reception " virtual key sends? execution " reception " operation → result is updated to the debugging corresponding displaying block place → end in interface; return and enter sleep.