## 3 Results
### Materials and Devices Used in the Implementation of Test Stands
#### 3.1.2 Architecture of the Master Component  
The Master component is responsible for determining the limb length discrepancy (LLD), a process that is carried out using an I2C MPU 6500 accelerometer (InvenSense Inc., San Jose, USA). This sensor is able to monitor the position of the affected limb, thus contributing to the rapid detection of the length discrepancy required for an efficient correction. The main technical characteristics of the accelerometer are presented in Table 2.  
The \(Y\)-axis of the I2C MPU 6500 accelerometer was utilized for the detection of LLD, a decision that was informed by its alignment with the operational position of the Master component prototype mounted on the prosthetic body. The \(Y\)-axis signifies the direction in which variations in position that are pertinent to LLD detection are documented. The data collected by the accelerometer are then transmitted to the ESP 32 development board (see Table 3 for a detailed list of the parameters), which processes the information in real time to generate the commands necessary for compensation. The system's functionality is predicated on the input variable LLD, as determined by the inclination detected by the prosthesis sensor. The accelerometer mounted on the Master measures this inclination, while specialist software interprets it to restore the user's body symmetry. The sensor detects gravitational acceleration on the \(Y\)-axis, and the AccY variable, displayed on the screen, represents a scaled version of this acceleration. Consequently, the system undertakes an analysis of the inclination angle of the pivoting bar and determines LLD.  
The data characterizing the position of the lower limbs of the prosthetic individual, as well as the connection status between the Master and Slave components, are monitored and displayed in real time on an OLED display. This display features technical characteristics suitable for biomedical applications, allowing for the rapid visualization of the information. The main characteristics of this display, including the display resolution and compatibility with embedded systems, are presented in summary in Table 4.  
The OLED display has been developed to provide a user-friendly interface, facilitating the real-time evaluation and adjustment of critical parameters, such as the position of the prosthetic limb and the stability of the wireless connection. This solution contributes to the  
\begin{table}
\begin{tabular}{c c} \hline \hline
**Parameters** & **Technical Specifications** \\ \hline Model & GY-6500 \\ Axes & 3-axis gyroscope, 3-axis accelerometer \\ \hline Communication & Standard IIC/SPI protocol \\ \hline Chip & 16 bit converter AD, data output 16 \\ \hline Pins & 2.54 mm \\ \hline Gyroscope range & \(\pm\)250 500 1000 2000\({}^{\circ}\)/s \\ Accelerometer range & \(\pm\)2 \(\pm\)4 \(\pm\)8 \(\pm\)16 g \\ \hline \hline \end{tabular}
\end{table}
Table 2: Main technical characteristics of the I2C MPU-6500 accelerometer [32].  
efficiency and accuracy of LLD correction, offering immediate and detailed visual feedback, which is essential for monitoring LLD.