Rancang Bangun Sistem Restorasi Gerak Bahu Pada Sagittal Plane Menggunakan Wearable Functional Electrical Stimulation Dengan Fuzzy-PID Controller Untuk Rehabilitasi Pasca Stroke

Zachrani, Mutiara (2023) Rancang Bangun Sistem Restorasi Gerak Bahu Pada Sagittal Plane Menggunakan Wearable Functional Electrical Stimulation Dengan Fuzzy-PID Controller Untuk Rehabilitasi Pasca Stroke. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 07311940000062-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 October 2025. Download (2MB) | Request a copy

Abstract

Stroke menempati urutan kedua sebagai salah satu penyebab kematian terbanyak serta menjadi urutan ketiga penyebab disabilitas yang dialami manusia. Disabilitas paling umum pada pasien pasca stroke adalah pelemahan pada fungsi motorik khususnya alat gerak bagian atas. Untuk mengembalikan fungsi motorik sendi bahu pada pasien pasca stroke, dapat dilatih dengan melakukan rehabilitasi menggunakan Functional Electrical Stimulation (FES). Pada penelitian ini modul FES digunakan dengan mikrokontroler STM32F103C8T6, serta 2 buah sensor accelerometer dan gyroscope untuk mengukur sudut pada lengan atas dan bahu. Divais wearable FES memiliki ukuran 21,5 cm x 10 cm x 6,5 cm dengan strap yang dapat digunakan pada bagian punggung. Boost Converter mampu menghasilkan tegangan keluaran sebesar 150-190 V dan Pulse Generator mampu menghasilkan pulsa 20 Hz selebar 210 μs. Gyroscope dan accelerometer mengukur tilt angle yang menghasilkan joint angle saat dilakukan stimulus pada otot penggerak sendi bahu. Pada penelitian ini menambahkan metode kontrol Fuzzy-PID untuk mengatur besar stimulus FES, dimana kontroler Fuzzy akan melakukan tuning pada parameter Kp pada PID, yang selanjutnya akan menentukan besar tegangan stimulus pada subjek untuk menghasilkan gerakan bahu mengikuti target trajectory yang sudah ditentukan. Tegangan stimulus yang diberikan berbanding lurus dengan error yang dihasilkan. Performa yang dihasilkan dari pengujian trajectory dengan frekuensi 0,15 Hz yaitu kontroler PID memiliki error rata-rata 7,184° dan kontroler Fuzzy-PID memiliki error rata-rata 5,381°. Sedangkan untuk penggunaan frekuensi 0,2 Hz yaitu kontoler PID memiliki error rata-rata 5,248° dan kontroler Fuzzy-PID memiliki error rata-rata 3,405°. Berdasarkan hasil yang didapatkan, performa kontroler Fuzzy pada kontrol PID dapat memberikan peningkatan performa pada kontroler FES dengan menekan error hingga 2 derajat RMSE dan penggunaan frekuensi yang lebih cepat juga dapat mengurangi error yang dihasilkan.
=================================================================================================================================
Stroke ranked second as one of the most common causes of death and was the third leading cause of disability experienced by humans. The most common disability in post-stroke patients was weakness in their motor function, especially in the upper limb. To restore the motor function of the shoulder joint in post-stroke patients, they were trained by doing rehabilitation using Functional Electrical Stimulation (FES). In that study, the FES module was used with the STM32F103C8T6 microcontroller, along with 2 accelerometer and gyroscope sensors to measure angles on the upper arm and shoulder. The FES wearable device measured 21.5 cm x 10 cm x 6.5 cm with a strap that could be used on the back. The Boost Converter could generate an output voltage of 150-190 V, and the Pulse Generator produced pulses at a frequency of 20 Hz with a width of 210 μs. The gyroscope and accelerometer sensors were used to measure tilt angles, which resulted in joint angles when stimuli were applied to the muscles that drive the shoulder joint. In that study, a Fuzzy-PID control method was implemented to regulate the magnitude of FES stimuli. The Fuzzy controller tuned the Kp parameter in the PID controller, which determined the magnitude of the stimulus voltage to the subject to produce shoulder movement following a predetermined trajectory target. The stimulus voltage given was directly proportional to the resulting error. The performance resulting from trajectory testing with a frequency of 0.15 Hz was that the PID controller had an average error of 7.184° and the Fuzzy-PID controller had an average error of 5.381°. Whereas for the use of a frequency of 0.2 Hz, the PID controller had an average error of 5.248° and the Fuzzy-PID controller had an average error of 3.405°. Based on the results obtained, the Fuzzy controller improved the performance of the FES controller in the PID control by reducing the error of about 2 degrees RMSE, and using a higher frequency could also decrease the error generated.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Functional Electrical Stimulation (FES), Fuzzy-PID controller, Restorasi Bahu, Stroke, Functional Electrical Stimulation (FES), Fuzzy-PID controller, Shoulder Restoration, Stroke.
Subjects:	R Medicine > RM Therapeutics. Pharmacology > RM871 Electric stimulation. R Medicine > RM Therapeutics. Pharmacology > RM950 Rehabilitation technology. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments
Divisions:	Faculty of Electrical Technology > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Mutiara Zachrani
Date Deposited:	09 Aug 2023 06:48
Last Modified:	09 Aug 2023 06:50
URI:	http://repository.its.ac.id/id/eprint/103767

Actions (login required)

View Item