As the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

作为人机交互可穿戴设备的必备技术，机器人膝关节假体可以为膝上截肢者提供功能性膝关节补偿，实现其身心社会回归。随着机械和机电科学技术的发展，能够为受试者提供致动扭矩的全主动膝关节假肢与被动和半主动膝关节假肢相比，在斜坡行走和爬楼梯时表现出更好的佩戴性能。此外，通过智能人机控制策略和算法，膝关节假肢的佩戴效果在站立稳定性和摆动灵活性方面得到了极大的提升。因此，为了帮助读者了解机器人膝关节假体的最新进展，本文根据膝关节假体的综合功能对其进行了系统分类，并介绍了近十年来（2010-2020年）的相关研究：（1）机械设计，包括单轴、四杆和多杆膝关节结构，（2）致动技术，包括刚性和弹性驱动，以及 (3) 控制方法，包括模式识别、运动预测和自动控制。对机器人膝关节假体相关技术进行了定量和定性分析和比较。发展趋势总结如下：（1）具有更好力学性能的仿生轻量化结构，（2）具有节能效果的仿生弹性驱动，（3）基于人工智能的仿生假肢控制。除了，