中文摘要：

智能动力下肢假肢在残疾人生活中起着越来越重要的作用．解决人一智能假肢一环境融合中的关键科学问题是实现假肢穿戴者安全、流畅运动的必要条件．本文针对此问题，综述了面向人机融合的智能动力下肢假肢研究，包括智能动力下肢假肢的仿生结构和控制方法、人体运动意图识别、复杂环境下的人一智能假肢融合、以及用于下肢假肢的感知替代和反馈，深入探讨了智能动力下肢假肢人机融合研究中所面临的挑战和问题，最后，本文对该领域的未来发展方向进行了展望和总结．

英文摘要：

Robotic lower-limb prosthesis plays an increasingly important role in amputees＇ daily activities. One of the key programs in this research area is the human-prosthesis-environment interaction, and its solution is a crucial step towards reliable and smooth motions of the amputee wearing a robotic prosthesis in practical applications. In this paper, we overview the state-of-the-art of the robotic lower-limb prosthesis in the context of human-prosthesis-environment interaction. The overview includes bio-inspired mechanical structure design, control strategy, human intenting recognition, human-prosthesis interaction in complex environments, and sensory substitution for human-in-loop control. At last, existing challenges and future directions are discussed.