Redesign of a Biomechanical Energy Regeneration-based Robotic Ankle Prosthesis using Indonesian Gait Data

Authors

  • Edgar Buwana Sutawika Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung
  • I. Indrawanto Mechanical Production Engineering Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jalan Ganesa No.10, Bandung 40132,
  • F. Ferryanto Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung
  • Sandro Mihradi Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jalan Ganesa No.10, Bandung 40132
  • Andi Isra Mahyuddin Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jalan Ganesa No.10, Bandung 40132

DOI:

https://doi.org/10.5614/j.eng.technol.sci.2021.53.4.6

Keywords:

biomechanical, energy regeneration, prosthesis, robotic ankle, trajectory control

Abstract

In this research, the robotic ankle design from Arizona State University (ASU) known as SPARKy was redesigned to accommodate the specific needs of Indonesian people. Most active prosthetic legs are designed based on gait parameters for people from Western countries, which may differ for people from other cultures that have a different anthropometry and economic background. Indonesians have smaller actuating power characteristics compared to people from Western cultures due to their smaller average weight and body height. Thus, the applied design strategy took advantage of a biomechanical energy regeneration scheme to reduce the actuator input power requirement and the relatively smaller mechanical power of the typical Indonesian ankle to create a potentially affordable robotic ankle with a smaller actuator that meets the technical specifications. The specifications of the powered prosthetic ankle were determined through the same methods used by SPARKy. Only one low-level control system, to actuate normal walking, was designed and tested on a fully assembled robotic ankle. The test results indicated a promising low-level control, where the robotic ankle can follow the predetermined trajectory required to actuate normal walking based on Indonesian gait data.

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Author Biography

Andi Isra Mahyuddin, Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jalan Ganesa No.10, Bandung 40132

Prof. Mahyuddin is the Chair of the Mechanical Design Research Group at the Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung (ITB), Indonesia. He obtained his Bachelor Degree in Mechanical Engineering from Institut Teknologi Bandung, and both Master and PhD in Mechanical Engineering from Purdue University, USA. He has almost 30 years teaching and research experience. He has published in international and national journals as well as proceedings, and co-authored a book chapter.

He conducts research in the field of multibody dynamics and computational mechanics covering biomechanics and vehicle dynamics. He has been involved with various research and development as well as providing technical assistance to the Indonesian automotive and railway industries since the early 90s. He is a member of the National Center for Sustainable Transportation Technology.

In the last ten years, Prof Mahyuddin has been working on Motion and Injury Biomechanics, as well as Dental Biomechanics. The Biomechanics group has supervised more than thirty undergraduate and master students, published more than thirty publications in international journals and conference proceedings, submitted a patent and has established one start-up company. In 2016, Prof Mahyuddin’s group was one of the recipients of ITB Award in Innovation.

His interest in engineering education has led to several assignments at ITB, where he served in various capacities. He served as Head of Mechanical Engineering Dept., Vice Dean for Resources Management of Faculty of Industrial Technology, and as the Dean of Faculty of Mechanical and Aerospace Engineering from 2008 to 2010.

Prof Mahyuddin has extensive experiences in the initiation and implementation of International Collaborative activities, such as ASEAN University Network – South East Asia Engineering Education Development Program (2001 – now) in which FMAE-ITB Hosts Graduate Program in Mechanical and Aerospace Engineering; iCAPS/International Student Joint Capstone Design Project (2013-now) with a consortium of 13 Korean Universities led by Chonbuk National University (CBNU), UKM-Malaysia, NTU-Singapore, NCKU-Taiwan, and Tianjin University, China; Student Mobility and Double Degree European Master Program in Automotive, Mechatronics and Materials Engineering, partnering with CTU Prague – Czech Republic (2003-now). He is also key person in the establishment of the Center for Development of Medical Device Technology and Industry in FMAE-ITB.

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Published

2021-08-10

How to Cite

Sutawika, E. B., Indrawanto, I., Ferryanto, F., Mihradi, S., & Mahyuddin, A. I. (2021). Redesign of a Biomechanical Energy Regeneration-based Robotic Ankle Prosthesis using Indonesian Gait Data. Journal of Engineering and Technological Sciences, 53(4), 210406. https://doi.org/10.5614/j.eng.technol.sci.2021.53.4.6

Issue

Vol. 53 No. 4 (2021)

Section

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