Perpustakaan Digital ITB

Lower limb impairments caused by conditions such as spinal cord injuries and stroke remain a significant global health concern, often requiring long and intensive rehabilitation. Conventional rehabilitation methods are frequently limited by accessibility, cost, and the need for continuous supervision. To address these challenges, the Biomechanics Laboratory of Institut Teknologi Bandung has developed a portable lower extremity rehabilitation device, the Rehab-Bot, intended for home-based use. This study evaluates the performance of the Rehab-Bot through motion analysis and muscle activity assessment. Experimental testing was conducted on healthy subjects under both passive and active training modes. Joint angle data obtained from the Rehab-Bot were validated using optical motion capture. Additionally, force measurements and surface electromyography (sEMG) signals were analysed to evaluate system response and muscle activation during active rehabilitation. The results indicate that in passive mode, the Rehab-Bot is capable of producing consistent and controlled reciprocal motion, with joint angle measurement errors below 5%, demonstrating adequate accuracy for rehabilitation purposes. In active mode, the system responds effectively to user input and facilitates voluntary movement, although some limitations in motion stability and user comfort were observed. Motion analysis shows close agreement between the user’s joint angle and the Rehab-Bot measurements, while sEMG results confirm repeated muscle activation during exercise, with higher resistance producing increased muscle activity.