DEVELOPMENT CONTROL SYSTEM OF LOWER LIMB EXOSKELETON FOR PEOPLE WITH PARAPLEGIA

• Main Author: Budiman, Daffa
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/76327
• Institution: Institut Teknologi Bandung

The number of Indonesian with severe disabilities aged 18-59 years is nearly 8.36 million people. One of the severe disabilities that affects motor function with physical disability called as paraplegia. Paraplegia is a condition of paralysis in both lower limbs due to a serious injury to the lower spinal cord. However, there is hope to restore motor and sensory functions through therapy using assistive devices such as walkers, electric standing beds, and exoskeletons. The use of exoskeletons has the advantage of assisting in replacing the limb movements of the user, such as standing and walking, and it is also a portable device. One of the most desired movements for individuals with paraplegia is the sit-to-stand motion. Therefore, the development of a sit-to-stand assistive device is crucial. The Biomechanics Research Team FTMD ITB has developed several exoskeletons. However, these exoskeletons have some limitations, such as the use of incremental sensors, controller that hard to be used by a single user, two batteries as power supply that can be reduced, and battery capacity readings still using voltage that it’s hard to understand than a percentage. Hence, this research will focus on addressing the limitation of the previous exoskeleton studies to improve usability. The development method begins with a literature review and evaluation of the previous control systems, followed by determining design requirements and objectives, motor selection, searching PID values, creating a control system, and concluding with testing. The results of the testing that have been conducted on the exoskeleton movement show a similar trend between the potentiometer and motion capture. However, there is a delay of 0.7 seconds between the target and the potentiometer, as per the system's design.