Analisis dan Desain Frame Exoskeleton Lower Limb dengan Menggunakan Metode Finite Element Analysis (FEA)

Ali Imran, Naila Sari, Fikry Maulana Alni, Martina Puspita Sari

Abstract


Spinal Cord Injury (SCI) menyebabkan hilangnya kemampuan berjalan dan menurunkan kualitas hidup penderitanya. Exoskeleton tungkai bawah menjadi salah satu solusi rehabilitasi yang berkembang, namun desain yang terlalu berat dapat menurunkan kenyamanan dan efisiensi penggunaan. Penelitian ini bertujuan merancang struktur exoskeleton menggunakan material ringan serta melakukan analisis perbandingan antara Aluminium Alloy 6061 dan Magnesium Alloy AZ31B. Perancangan dilakukan melalui CAD, kemudian dianalisis menggunakan Finite Element Analysis (FEA) untuk melihat tegangan, regangan, dan defleksi statis. Hasil analisis menunjukkan bahwa Aluminium 6061 menghasilkan tegangan maksimum sebesar 4.88 MPa, regangan 4.55×10⁻⁵, serta defleksi sangat kecil (0.0066 mm), sehingga memberikan kekakuan tinggi dan stabilitas struktural yang baik. Sementara itu, Magnesium AZ31B, meskipun lebih ringan, menunjukkan defleksi lebih besar (0.0101 mm) dan regangan 6.99×10-5 namun tetap berada dalam batas aman terhadap kekuatan luluh material. Perbedaan respons ini menegaskan bahwa Aluminium 6061 lebih unggul dalam menjaga kekakuan rangka, sedangkan AZ31B menawarkan keuntungan dalam penyerapan gaya dan pengurangan berat total exoskeleton. Desain ini diharapkan menjadi acuan pengembangan exoskeleton rehabilitasi yang aman dan ringan.


Full Text:

PDF

References


Glenardi CT Ghea Mangkuliguna. KOMBINASI IPSC-DNSC BERBASIS CPP 3D-PRINTED BIOMIMETIC SCAFFOLDS DAN ANTI-HMGB1 MAB: INOVASI TERAPI REGENERATIF TERBARU BAGI PARA PENDERITA SPINAL CORD INJURY. ESSENTIAL:Essence of Scientific Medical Journal. 2017;17(1):16-24.

Dollar AM, Herr H. Lower extremity exoskeletons and active orthoses: Challenges and state-of-the-art. IEEE Transactions on robotics. 2008;24(1):144-58.

Sanchez-Villamañan MdC, Gonzalez-Vargas J, Torricelli D, Moreno JC, Pons JL. Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles. Journal of euroengineering and rehabilitation. 2019;16(1):55.

Roque ML, Gabasan E, Camacho KS, Bugtai N, Emmanuel Jr F, Munsayac I. Comparative Finite Element Analysis of Exoskeletons Materials for Durability in Rehabilitation. Recoletos Multidisciplinary Research Journal. 2025;1:51-62.

Rojas A, Ronceros J, Raymundo C, Zapata G, Vinces L, Ronceros G. Numerical Simulation and Design of a Mechanical Structure of an Ankle Exoskeleton for Elderly People. Technologies. 2024;12(7):107.

Prasetiyo AB, Sekarjati KA. Finite element simulation of power weeder machine frame. Indonesian Journal of Computing, Engineering, and Design (IJoCED). 2022;4(2):25-34. 9/10

Jamari J, Saputra E, Anwar IB, Van Der Heide E. Study of an additional layer of cement mantle hip joints for reducing cracks. Journal of Functional Biomaterials. 2019;10(3):40.

Mishra V, Singh R, Das R. Performance prediction of solid desiccant rotary system using artificial neural network. In: IOP Conference Series: Materials Science and Engineering. vol. 404. IOP Publishing; 2018. p. 012006.

Tripathy S, Panicker R, Shrey S, Naik R, Pachpore S. Voice controlled upper body exoskeleton: A development for industrial application. arXiv preprint arXiv:200908033. 2020.

Akhmejanov S, Zhetenbayev N, Sultan A, Zhauyt A, Nurgizat Y, Ozhikenov K, et al. De- sign and Analysis of an Autonomous Active Ankle–Foot Prosthesis with 2-DoF. Sensors. 2025;25(16):4881.

Shrestha D, Sharifi M. An Affordable Hip Exoskeleton for Assistance and Rehabilitation: Design, Analysis, and Fabrication. In: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. vol. 88414. American Society of Mechanical Engineers; 2024. p. V007T07A031.

Papenberg NP, Gneiger S, Uggowitzer PJ, Pogatscher S. Lean wrought magnesium alloys. Materials. 2021;14(15):4282.

Racu C, Doroftei I. Compliant mechanism for ankle rehabilitation device. Part II: optimization and simulation results. In: IOP Conference Series: Materials Science and Engineering. vol. 444. IOP Publishing; 2018. p. 052015.

Hussain F. Development of a lightweight and high strength underactuated lower limb robot exoskeleton for gait rehabilitation. University of Canberra; 2024.

Penzlin B, Bergmann L, Li Y, Ji L, Leonhardt S, Ngo C. Design and first operation of an active lower limb exoskeleton with parallel elastic actuation. In: Actuators. vol. 10. MDPI; 2021. p. 75.




DOI: https://doi.org/10.18860/jomi.v1i1.37730

Refbacks

  • There are currently no refbacks.


EDITORIAL OFFICE

Department of Mechanical Engineering
Faculty of Science and Technology
Maulana Malik Ibrahim State Islamic University Malang

Jl. Locari, Tlekung, Kec. Junrejo, Kota Batu, Jawa Timur 65151.