INTELLIGENT CONTROL ADVANCEMENT OF BIONIC ROBOT PROTOTYPE BASED ON MATLAB / SIMULINK

All humans basically want perfection in life, both physical and spiritual. But in reality, humans are not born perfect. One of the imperfections of humans is paralysis of the legs. Paralysis in the legs is a disturbance in the function of motion in the human foot. The impaired function can be caused by genetic errors, accidents, or disease. Many times we find disabled people who do not have legs and some are born to have imperfect legs. Handling people with foot defects requires special handling such as the need for prosthetic limbs and other supporting equipment.

One of the Indonesian Disability Empowerment Centers (PUSPADI) in Bali, located on Bakung No.19 Tohpati Denpasar Bali, is committed to improving the lives of people with disabilities throughout Bali. This handicapped foundation provides a variety of educational skills for students and also provides orthomedical care, providing mobility aids such as wheelchairs, prosthetic limbs. But prosthetic equipment is not functioning properly because the system is still manual so their movements are very limited. To overcome this problem, researchers will design a bionic robot leg that works automatically using an intelligent control system based on intelligent control that can regulate the stability of leg movements precisely and accurately. The bionic robot leg is equipped with a muscle sensor (Myo Ware muscle sensor) that is able to detect the movements of the muscles in the legs or hands ordered by the brain, which are then transformed into motion through linear motors and dc motors mounted on the joints of the robot's legs. In the future, the industry is expected to be able to produce a prototype Bionic Robot Leg that is used by people with disabilities/disabilities in the legs.

Simulation and experimental methods will be used in investigating the sophistication of bionic robot leg intelligence control to control leg movements quickly, precisely and correctly. Auto muscle reactions on the foot recorded using electromyography (EMG) and DC motors are used as actuators driving this robot. The Myo Ware muscle sensor measures the electrical activity of the muscle, so the amount of output voltage will depend on the amount of movement in the measured muscle area. A control system is needed to drive a DC motor. MATLAB / SIMULINK software is used to create a fuzzy logic control system. Arduino Mega 2560 was chosen because it can interface with MATLAB. It is expected that the control system on this foot robot can regulate the motion of the installed DC motor. So that the Bionic Robot Leg can move following the reaction of muscles in the legs. The greater the value of the muscle reaction, the higher the angle the robotic foot must reach.