Perancangan Sistem IoT untuk Monitoring dan Setting Robot Fisioterapi Lower Limb 3 DOF Berbasis Android
Abstract
Abstrak — Penelitian ini membahas perancangan sistem Internet of Things (IoT) untuk monitoring dan setting robot fisioterapi lower limb dengan tiga derajat kebebasan (3 DOF) yang meliputi sendi ankle, knee, dan hip. Sistem dirancang secara modular dan terdistribusi, di mana setiap sendi dikendalikan secara independen menggunakan mikrokontroler ESP32 dan motor BLDC AK70-10. Komunikasi antara node robot dan aplikasi Android dilakukan melalui jaringan WiFi menggunakan protokol TCP/IP dengan format data JSON. Aplikasi Android berfungsi sebagai antarmuka pengguna untuk pengaturan parameter terapi, monitoring sudut gerak, serta pembacaan sensor Force Sensitive Resistor (FSR) secara real-time. Pengujian dilakukan untuk mengevaluasi performa komunikasi jaringan, akurasi sudut, respons sensor, serta usability antarmuka. Hasil pengujian menunjukkan latensi komunikasi berada pada rentang 20–140 ms untuk satu node dan meningkat hingga 90–220 ms saat seluruh node aktif, yang masih berada dalam batas aman untuk aplikasi fisioterapi pasif. Kalibrasi sudut menggunakan inclinometer digital menunjukkan deviasi maksimum ±2°. Berdasarkan hasil tersebut, sistem yang dirancang dinilai stabil, modular, dan layak digunakan sebagai prototipe awal robot fisioterapi berbasis IoT.
Kata kunci—android, bldc, esp32, iot, robot fisioterapi, tcp/ip.
References
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