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CIP-Ⅰ Leg是国内首个智能仿生人工腿原型机，首先介绍了CIP-Ⅰ Leg的基本结构，然后重点介绍了该人工腿步速测量系统的设计方案，包括步速调整原理、控制系统结构、针阀开度值的设置方法以及步速测量系统硬件和软件设计等；提出了一种新的步速测量方法，即通过测量人工腿一个完整的步行周期，用步行周期的长短来反映步行速度的快慢；实验结果表明，所设计的步速测量系统精度高，实时性好，功耗低，能非常可靠地检测出CIP-Ⅰ Leg的步行速度。
CIP-Ⅰ Leg is the first intelligent bionic artificial leg prototype in our country. Firstly, the basic structure of CIP-Ⅰ Leg is introduced. Then, the design scheme of artificial leg walking velocity measurement system is introduced emphatically, including the principle of pace adjustment, the structure of control system , The setting method of the needle valve opening value, the hardware and software design of the pace measuring system, etc .; a new measure method of walking speed is proposed, which is to measure walking length of the artificial leg and walk length The experimental results show that the designed pace measurement system has the advantages of high precision, good real-time performance and low power consumption, and can detect the walking speed of the CIP-I Leg very reliably.