Performance analysis of artificial leg robot movement with PID control

Abstract

The Artificial Leg Robot (ALR) is a tool that serves as a substitute for lower limbs for people who have limitations due to congenital defects or amputations. PID control is installed to reduce maximum overshoot, steady-state error, and settle time to produce a more responsive, accurate, and optimal bionic footwork. ALR device uses an Arduino Mega 2560 microcontroller with programming software using Matlab/Simulink R2020a and uses a myoware sensor. The function of the sensor on the bionic foot is to give a signal to the controller so that the DC motor moves at an angle between 0o-60o and vice versa, referring to the gate cycle concept. The PID control simulation results shown a maximum overshoot value of 2.35%, a steady-state error of 0.0285%, and a settling time of 4.01 s. The results of the PID control experiment shown a maximum overshoot value of 0%, a steady-state error of 2.565%, and a settling time of 4.449 s.