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This paper presents a microcontroller-based solution for generating real-time normal walking knee angle of a powered transfemoral prosthetic leg prototype. The proposed control algorithm was used to determine the prosthetic knee angle by utilizing seven hip angle movement features generated from only the inertia measurement unit (IMU) deployed on the prosthetic socket on the thigh of the same side. Then, a proportional–integral–derivative (PID) controller is developed to control the motor to reach the desired knee angle in real time. Furthermore, a novel parallel four-bar linkage-based master–slave validation framework combining a motion capture system was introduced to evaluate the performance of the knee angle generation on a speed-adjustable treadmill with able-bodied subjects. In the framework evaluation, 3 different walking speeds were applied to the treadmill to validate different speed adaptation capabilities of the prosthetic leg control system, precisely 50 cm/s, 60 cm/s, and 70 cm/s. Through the proposed 4-bar linkage framework, the prosthesis's movement can simulate able-bodied subjects well with maximum RMSE never exceeding 0.27° in the swing flexion phase, 4.4° to 5.8° in the stance phase, and 1.953° to 13.466° in the swing extension phase. The treadmill results showed that the prosthetic leg is able to perform a normal walking gait following different walking speeds of the subject. Finally, a corridor walking experiment with a bypass adapter was successfully performed to examine the feasibility of real prosthetic walking situations. [ABSTRACT FROM AUTHOR]

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Indonesia is one of the major countries which contributes the world's guava production. Guava var. Getas Merah is commonly found in Indonesia. Guava has a short shelflife as it rapidly goes under postharvest ripening. This leads to a faster deterioration of physicochemical and sensorial properties of guava. A generally used method to extends shelflife is by edible coating. In this study, a combination of alginate and Cyclea barbata leaves powder (CBLP) was investigated as a potential edible coating. The analysis of firmness, total soluble solids, total reducing sugar, total titratable acidity and organoleptic tests were conducted to evaluate the quality of guava fruits stored for 20 d at 14°C. A split plot design study was used and four different treatments with different CBLP concentrations were applied. The samples treated with 2% alginate and 0.8% CBLP showed the lowest total dissolved solids, total reducing sugar, and total titratable acidity. Moreover, the samples were reported with the highest score on color, taste, and texture parameters. The firmness test showed that samples treated with 2% alginate and 0.2% CBLP had the lowest firmness loss and highest score for aroma. In summary longer quality retention of guava fruits was found after the addition of CBLP in alginatebased edible coating. [ABSTRACT FROM AUTHOR]