Chapter 1

Introduction

1.1 Significance

Spinal cord injuries, old age, trauma, and stroke to name a few have caused the number
of people with lower limb disability or paralysis to increase dramatically in recent years thus
making rehabilitation care more significant than ever.

Rehabilitation can help patients with lower limb injuries improve their quality of life by
assisting with gait restoration and improvement. Traditional rehabilitation techniques are
generally costly and labor intensive, especially for gait restoration.

Robotics in rehabilitation is a new topic that is projected to expand in importance as a

way to automate rehabilitation training. Robotic rehabilitation can replace a therapist's physical
training effort, allowing for more rigorous repetitive movements and lower therapy costs, as well
as quantifying motor recovery by monitoring force and movement pattern. It can also make
rehabilitation less labor-intensive by decreasing the load action on the operator.

1.2 Objective

1.2.1 The system objective is to design a mimic system with a master being the human leg and
a slave being the leg robot.

1.2.2 Design a control system for the leg robot using microcontrollers and motor drives and a
human leg suit with sensors and microcontroller to acquire input data to control the leg robot.

1.2.3 Interface the master-slave systems so the leg robot can mimick the movement of the
human leg.

1.3 Hypothesis

A robot leg with motors controlled by a microcontroller can mimic the motion of the leg in
real time by receiving the data in the form of angle that is acquired from the sensors on the leg.
1.4 Conceptual Framework

Acquire data from input position sensors on human leg to determine angle data
by using an algorithm processed by the microcontroller to drive motors on robot leg to
mimic the movement of the human leg.

Figure 1.1 project framework

1.5 Project Scope

The aim of this project is to design a mimicking leg robot designed for the right leg. The
robot will mimic the movement of the leg by processing the gyroscope data from the MPU 9250
sensors. The leg robot will be driven by two motors; one on the hip and the other on the knee.

1.6 Study Process

1.7 Keywords

1.7.1 PID controller

PID is a proportional integral derivative control system based on a
feedback loop mechanism that continuously monitors the error and provides the system with
better efficiency.

1.7.2 Gait analysis

Gait analysis is the study and analysis of the locomotion of the
human body by observation through brain and eyes, using measurement tools for measuring
angles and length of body parts and reporting the movement of limbs, body and muscles.

1.7.3 Mimic system

Mimic system is a system that allows you to make the system
mimic your movements.

1.7.4 Leg robot

The leg robot is a robot that performs the same function that a
human leg can based on the programmed data.