| Integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, and aerospace applications. A human's ability to perform physical tasks is not limited by intelligence but by physical strength, whereas robotic machines can carry out rigorous tasks such as maneuvering heavy objects easily. It seems, therefore, that combining these two entities, the human and the robot, into one integrated system under the control of the human, may lead to a solution which will benefit from the advantages offered by each subsystem. This is the underlying principle in the design of lower artificial limb systems.The work described in this thesis depended on the resource advantages of SKLoFP in Zhejiang University, focused on the study and design of lower artificial limb based on EMG for rehabilition physic and have developed a prototype of lower artificial limb for esperimenting, including machining and assembly of mechanism and the method of controlling. And further experiments will be performed on the prototype experimental system.The thesis firstly reviewed related research projects conducted in this field at home and abroad, analysed the research background of this project and put forword the meaning,intention and content of this research. And using EMG signal as the mainly feedback, the thesis studied the control theory and the implementing method of the lower artificial limb based on EMG, and particularly introduced the composing of the system, including mechanism, singlechip system, sensor,control circuit, DAQ module and serial port communicationg. oftware engineering.The ultimate goal of this project is to realize the comfort of wearing and stability of walking when wearing the lower artificial limb for rehabilitation physic, which, could not only help the daily living of handicapped, but also the daily work and travel.
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