RANCANG BANGUN KONTROLER PID PADA EKSOSKELETON LOWER-LIMB SENDI PAHA

*Nicolas Arthur Utomo  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia
Mochammad Ariyanto  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia
Munadi Munadi  -  Department of Mechanical Engineering, Universitas Diponegoro, Jl. Prof. Sudarto, SH, Tembalang, Semarang, Indonesia 50275, Indonesia

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Abstract

Penelitian ini mengembangkan prototipe eksoskeleton tungkai bawah cable-driven terkontrol PID sebagai proof of concept untuk asistensi berjalan bagi lansia dengan pelemahan otot. Tuning PID (ZN awal Kp=12.0, Ki=18.81, Kd=1.91; final Kp=12.0, Ki=1.88, Kd=1.91) dievaluasi dengan membandingkan pola sudut paha baseline vs eksoskeleton saat berjalan/naik tangga (RMSE, Pearson, DTW). Hasil menunjukkan eksoskeleton mengikuti pola dasar (r>0.95), namun dengan deviasi moderat (RMSE~6.2°) dan keterbatasan signifikan (overshoot ~5.5%, osilasi PWM -60, limitasi ekstensi) akibat arsitektur kontroler awal yang suboptimal. Disimpulkan bahwa konsep dasar terbukti, namun refactoring kode kontroler mutlak diperlukan untuk performa optimal.

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Keywords: analisis gait; cable-driven; dtw; eksoskeleton; kontrol pid
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