Reciprocating Gait Orthosis (RGO) is a device that can help upright walking and ambulation for people with disability to walk or paraplegia. However, the conventional RGO that still available around mostly required patient's energy to initiate movement and also because of the complexity the price is not affordable for the major class of people in our country. In this thesis, a real time control system for the RGO is developed. The study was carried out in which carbon brushed DC servo motor

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... IG42GM equipped with incremental encoder was used for position control for this 2 degree of freedom (DOF) orthotic. Data acquisition device (DAQ) model PCI-6221 was used in this research as an interface between real physical world and software control system by converting analog to digital signal and otherwise. Each PCI card will able to handle up to two analog outputs for DC motors. DAQ and receive the input from encoder by attaching the encoder's channels to respective PFI counter at screw terminal for those DAQ devices. The control system with proportional-integral-derivative (PID) compensator for each motor designed accordingly in Simulink using Real Time Window Target (RTWT) to enable the task executed in real time. The response in system with controller was identified graphically to analyze the performance for each control system. The output angle of RGO's link was compared with input from user and there were a small number of errors in the response that hardly rejected by tuning PID itself. In real time simulation, at least there was 2.2% overshoot that cannot be conditioned by controller and around 1 0 steady state error in system respond. However, the others criteria in respond were acceptable and all system was perfectly stable. The trajectory of RGO's links after input of hip and knee joint was interpreted by Simulink SimMechanics simulation. The final position end of effectors was predicted by forward kinematic calculation and then location end of effectors can be placed as desired. The result from this research show that the utilization of DC motor as actuator of RGO to become active is quite reliable with the ease of control and low cost. Based on kinematic analysis of RGO that start with input angle, it is possible to create a normal walking gait but some improvement need to consider in term of controller and ergonomic factors. vii KANDUNGAN Halaman PENGESAHAN ii PENGAKUAN iii PENGHARGAAN iv ABSTRAK v ABSTRACT vi KANDUNGAN vii SENARAI JADUAL x SENARAI RAJAH xi