RANCANG BANGUN ROBOT LOWER-LIMB EXOSKELETON DENGAN MEKANISME CABLE DRIVEN GUNA REHABILITASI GANGGUAN MOBILITAS

*Hari Agung Hazma Hizrian  -  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

Gangguan mobilitas pada ekstremitas bawah akibat kondisi medis seperti stroke atau cedera tulang belakang memerlukan intervensi rehabilitasi yang efektif. Teknologi robot exoskeleton berkembang sebagai solusi asistif, namun tantangan utama terletak pada bobot perangkat dan interaksi yang aman dengan pengguna. Penelitian ini bertujuan untuk merancang bangun prototipe lower-limb exoskeleton menggunakan mekanisme cable-driven yang ringan serta mengembangkan sistem analisis pola jalan (gait analysis) berbasis visi komputer yang terjangkau. Perancangan mekanik menggunakan motor Brushless DC (BLDC) dengan transmisi kabel sintetis (Dyneema) dan komponen struktural berbahan PLA hasil cetak 3D. Sistem kendali dan monitoring dikembangkan menggunakan algoritma Python dengan pustaka MediaPipe untuk mendeteksi sudut sendi secara real-time tanpa penanda (markerless). Evaluasi kinerja meliputi karakterisasi gaya tarik aktuator terhadap sinyal PWM dan validasi akurasi sistem pengukuran visual dibandingkan dengan perangkat lunak standar Kinovea. Hasil pengujian menunjukkan bahwa aktuator mampu menghasilkan gaya tarik maksimum sebesar 8,34 N (0,85 kg) pada kondisi beban puncak. Validasi sistem pengukuran menunjukkan korelasi tinggi antara metode Python/MediaPipe dan Kinovea, membuktikan keandalan sistem dalam memantau sudut fleksi lutut dan orientasi vertikal tubuh. Penelitian ini menyimpulkan bahwa mekanisme cable-driven efektif dalam mereduksi bobot sistem pada kaki, dan integrasi sistem visi komputer menawarkan solusi monitoring rehabilitasi yang presisi.

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Keywords: cable-driven; computer vision; gait analysis; lower-limb exoskeleton; rehabilitasi
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