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Journal : International Journal of Electrical and Computer Engineering

Enhanced ankle physiotherapy robot with electromyography - triggered ankle velocity control Adiputra, Dimas; Nismara, Radithya Anjar; Lubis, Muhammad Rafli Ramadhan; Rizkianingtyas, Nur Aliffah; Satrio, Kensora Bintang Panji; Arif, Rangga Roospratama; Salsabila, Annisa
International Journal of Electrical and Computer Engineering (IJECE) Vol 15, No 6: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v15i6.pp5314-5326

Abstract

Previous ankle physiotherapy robots, called picobot rely on predefined trajectories continuous passive movement without considering patient intent, limiting the encouragement of user-intent motion. This study then integrates electromyography (EMG) signals as triggers into picobot with an ankle velocity-based control system. The upgraded robot activates movement in specific gait phases based on muscle activity, synchronizing therapy with the patient’s intent. Functionality test on 7 young male healthy subjects investigates leg muscles, such as Tibialis Anterior, Soleus, and Gastrocnemius muscles for the most significantly contribute to ankle movements. Then, the muscle is tested to trigger picobot movements. Functionality tests revealed the Tibialis muscle significantly contributes to gait phases 2, the Soleus is prominent in phases 3 and 4, and gastrocnemius is active on phase 1. The robot successfully performs plantarflexion when EMG signals exceed a 1.58 V threshold, reaching a target position of -0.11 rad at a constant velocity of -0.62 rad/s. These findings establish a foundation for future trials since patient testing has not yet been conducted. By promoting active participation, this innovation has the potential to enhance rehabilitation outcomes. Incorporating user-intent triggers may accelerate recovery and improve healthcare accessibility in Indonesia, offering a significant advancement in physiotherapy technologies.
Co-Authors Abdi Ilahi, Pyar Abdul Latip, Abdul Abdurrahmansyah Abdurrahmansyah, Abdurrahmansyah Ach. Yasin Adiputra, Dimas Agisna, Kiki Rizki Agung Wahyu Handaru Agus, Imaludin Agustinar, Agustinar Ahaddiah, Riyani Ahmad Arif Fadilah Al-Qadar, Laila Alfariza, Alfariza Algyifari, Muhammad Ali, Nuraliah Alia, Hanna Alihan Satra, Alihan Almira Sitasari Amalina, Celia Nurul Amanda, Widia Ambomasse, Nurfadila M Andayanti, Westri Andi Cahyono Andika Wijaya, Andika Apriliya Nuraini, Raden Putri Arif, Rangga Roospratama Arifah Nursadrina, Raisya Asbah, Asbah Asnita, Dessy Asri, Rangga M. Astuti, Vivia Aswin, Micelle Yap Aualina , Khalifatul AULIA, RIZKA Awaliyah, Nururrahmah Azmul Fauza Azura Arisa Bakhtiananda, Rafif Syadid Barangkau, Barangkau Barus, Ulian Chaeratunnisa, Rizkya Cheriani Dara Julana Darwis, Nirmawati Despinur Dara Deviyanti Pangestu Dina Eka Nurvazly, Dina Eka Dwi Kurnia, Ryzka Dwi Nata, Lola Dyahredaya, Galuh Enas, Ujang Fachri Noor Said Fadhilah Khairani, Fadhilah Farina, Thea Fatimah, Nyinyi Fauzani, Nabila Fawwaz, M. Ihsan Ridhoni Fernando, Zico Junius Fikri Fahru Roji Firzan Nainu Goteji, Wendy Gustina, Julia Hargiani, Fransisca Xaveria Harwiya, Trie Ananda Hasanah, Faizatun Hasbi S, Muhamad Hasugian, Yana Kianshi Herlini Puspika Sari Hermawan, Jody Setya I Gede Saputra, I Gede Iksar, Muhammad Imron Mustofa Insani, Aura Irsyadi, Thoriky Ivans Januardy Izzati, Jovita Nurul Jaya, Riska Juliani, Defanny Padiyah Juliansyah, Rayhan Junisa, Nanda Eri Kamila, Marda Karamang, Ezra Khaerani, Mufliha Khoiron Nazip, Khoiron Laila Rahmawati Latifah Latifah Lestari, Ana Rahayu Lovandri Dwanda Putra, Lovandri Dwanda Lubis, Muhammad Rafli Ramadhan Mahharani, Tita Mahira, Tasya Mai Sri Lena, Mai Sri Lena Malik Ibrahim Maltufah, Nuriyanti Marchella, Amanda Meilinda Miftahir Rizqa Mohammad Farid Susanto Mohammad Insan Romadhan Muhammad Iqbal Muhammad Rizki Muldiana, Ayu Muliya, Suci Mutia, Enzela Muttaqin, Ridlwan Muzdhalifah, Muzdhalifah Naila, Rahil Natalia, Rizka NENI Nikmah, Nadhir Rotun Nisa F, Muslimatun Nismara, Radithya Anjar Novrizal Primayudha Nur Rahayuningsih, Nur Nurhayani, Windi Nurussama, Alfiana Nurwahidin, Muhammad Nuzulan, Moch Aji Zulfan Oktavia, Dwi Fani Permatasari, Rd Intan Pertiwi, Asih Pratama, Dean Putri Salsabila, Fazira Putri Sukmana, Reinta Putri, Desi Az Zahra Putri, Salsa Amelia Raehang Raehang, Raehang Rahayu, Teten Ginanjar Rahma Dianti, Ahrami Rahma, Elsa Zulfiatur Rahmatina Ramadhan, Viona Putri Ramadhani, Yulia Putri Ramdani, Fitrah Ratri Virianita Restu Pradana, Nanang Resya Dwi Marselina Ridwan Fauzi, Muhamad Rita Ningsih, Rita Riyanto Riza Septriani Dewi Rizkianingtyas, Nur Aliffah Rizqi, Muchammad Rohanudin, Muhammad Ronadzafira, Putri Sabda Ilahi, Perceka Sabrina, Dian Safitri, Dinda Auliya Sahid Sahid Saidah, Arafatus Salamah, Susi Salim, Muhammad Ivan Noor Salsabila, Anggun Salsabila, Hilwa Salsabila, Sovia Saputri, Ginanjar Zukhruf Sarbaitinil, Sarbaitinil Sari , Devista Sartono Sartono, Sartono Sasi Kirana, Rhein Sasmita, Aura Satrio, Kensora Bintang Panji Satriya Nugraha Septiana, Eka Setiawati Setiawati Shiratsuchi, Akiko Sianturi, Rosari Br Simatupang, Naila Syahira siti fadilah Siti Nurhasanah Sofiyan Sofyan Iskandar, Sofyan Sudaryanto, Edy Sulpadli, Muh Sultani, Dalmi Iskandar Sunja'va, Salwa Aurantiva Supriadinata, Supriadinata Supriyadi Supriyadi Susan Fariaton Susilo Wirawan Sutarini, Sutarini Syahfitri, Nur Indah Syilla Syakilla Talitha, Adeline Triawan, Hafid Tyaningsih, Ratna Untsal Asad, Amiroh Utami, Nurul Putri Utomo, T. B. Vincentia Wahju Widajatun Viona Putri Ramadhan Waranggana, Athallah Argya Wardah, Annisa Siti Wardahiljannah, Salsabila Virda Wulan Mulyani, Wulan Mulyani Wulandari, Ratu Mutiara Yammar, Yammar Yanti Sri Wahyuni Yessi Desmatala Sari, Yessi Yulia Putri Ramadhani Zahiyyah, Nailah Zaki, Leil Badrah Zakiya, Faza