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Artificial limbs users frequently experience constraints in their range of motion (ROM). This restricted ROM affecting up to 40% of the user’s gait cycle. This study presents the development and evaluation of three distinct modes for a bionic leg: Manual mode, automatic mode, and surface Electromyography (sEMG) mode. The methodology in this study involves programming the motor control system, followed by measuring the actual movement of the bionic leg after motor activation. The motor control is divided into three modes: manual control (Manual Mode), surface EMG-based control (EMG Mode), and fully automated control (Automatic Mode). Throughout the experiment, the bionic leg’s motion is continuously tracked and recorded using a motion capture camera for detailed analysis. The experimental results reveal that angular settings were varied between 15° and −15°, with dynamic transitions among the modes. Specifically, in manual mode, the angular range averaged between 2° and 18°, with a speed of 50°/s and an acceleration of 200°/s2. In sEMG mode, the angular range was between 5° and −13°, with a speed of 25°/s and an acceleration of 100°/s2. Automatic mode achieved an angular range of 17° to −20°, with a speed of 10°/s and an acceleration of 80°/s2. Future advancements will focus on refining these modes to more accurately replicate human gait, including the integration of dorsiflexion and plantarflexion angles to align with natural walking patterns.

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Initial Movement of Bionic Foot: Control Mapping Concept

  • 会议论文

  • 发表日期：

    2026年

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  • Hartanto Prawibowo,
  • Rifky Ismail,
  • Farika Tono Putri,
  • Mohammad Tauviqirrahman,
  • Robin Novriansyah,
  • Sulistia Nur

摘要

Artificial limbs users frequently experience constraints in their range of motion (ROM). This restricted ROM affecting up to 40% of the user’s gait cycle. This study presents the development and evaluation of three distinct modes for a bionic leg: Manual mode, automatic mode, and surface Electromyography (sEMG) mode. The methodology in this study involves programming the motor control system, followed by measuring the actual movement of the bionic leg after motor activation. The motor control is divided into three modes: manual control (Manual Mode), surface EMG-based control (EMG Mode), and fully automated control (Automatic Mode). Throughout the experiment, the bionic leg’s motion is continuously tracked and recorded using a motion capture camera for detailed analysis. The experimental results reveal that angular settings were varied between 15° and −15°, with dynamic transitions among the modes. Specifically, in manual mode, the angular range averaged between 2° and 18°, with a speed of 50°/s and an acceleration of 200°/s2. In sEMG mode, the angular range was between 5° and −13°, with a speed of 25°/s and an acceleration of 100°/s2. Automatic mode achieved an angular range of 17° to −20°, with a speed of 10°/s and an acceleration of 80°/s2. Future advancements will focus on refining these modes to more accurately replicate human gait, including the integration of dorsiflexion and plantarflexion angles to align with natural walking patterns.