Sistem Kendali Closed Loop pada Rehabilitasi Hybrid Eksoskeleton Robotik dan Functional Electrical Stimulation untuk Restorasi Gerakan Elbow Joint

Azizah, Nur (2023) Sistem Kendali Closed Loop pada Rehabilitasi Hybrid Eksoskeleton Robotik dan Functional Electrical Stimulation untuk Restorasi Gerakan Elbow Joint. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Stroke adalah kondisi yang disebabkan oleh penyumbatan atau pecahnya arteri di otak. Salah satu dampak dari stroke adalah hemiplegia, di mana salah satu sendi yang kehilangan fungsi motorik adalah sendi siku yang berperan penting untuk kegiatan sehari-hari. Metode rehabilitasi yang umum digunakan pada pasien pasca stroke melibatkan penggunaan eksoskeleton atau Functional Electrical Stimulation (FES). Metode ini dapat digabungkan secara sinergis menjadi sistem hybrid yang dikenal sebagai Hybrid Eksoskeleton-FES. Penelitian ini bertujuan untuk merancang sistem kontrol closed loop pada sistem Hybrid Exoskeleton-FES untuk rehabilitasi sendi siku agar dapat bekerja bersama secara simultan. Sistem kontrol menggunakan Proportional Controller untuk mengatur motor eksoskeleton dan Fuzzy Logic Controller untuk mengatur intensitas stimulus FES. Stimulus akan diberikan pada otot Biceps dan Triceps Brachii secara bergantian saat gerakan fleksi dan ekstensi. FES pada sistem hybrid berperan sebagai terapi neuromuskular dengan stimulus sub-threshold dan supra-threshold, sementara eksoskeleton memberikan terapi fisik dengan menggerakkan sendi siku menggunakan daya eksternal. Eksperimen dilakukan pada lima subjek normal yang melakukan gerakan fleksi dan ekstensi siku dengan lintasan sinusoidal. Hasil penelitian ini menunjukkan keberhasilan integrasi sistem hybrid dalam memfasilitasi terapi fisik dan neuromuscular secara simultan. Hasil pengujian menunjukkan bahwa pada sistem hybrid dengan stimulus sub-threshold, diperoleh RMSE sebesar 1,6514 ± 0,009 derajat dan tidak terdeteksi adanya gerakan pada sendi siku sebagai respon terhadap stimulus. Sementara pada sistem hybrid dengan stimulus supra-threshold, diperoleh RMSE sebesar 1,6502 ± 0,003 derajat dan terdeteksi gerakan pada sendi siku sebagai respon terhadap stimulus.
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Stroke is a condition caused by the blockage or rupture of arteries in the brain. One of the impacts of stroke is hemiplegia, where one of the joints that loses motor function is the elbow joint, which is crucial for daily activities. Common rehabilitation methods for post-stroke patients involve the use of exoskeletons or Functional Electrical Stimulation (FES). These methods can be synergistically combined into a hybrid system known as the Hybrid Exoskeleton-FES. This research aimed to design a closed-loop control system for the Hybrid Exoskeleton-FES to enable simultaneous rehabilitation of the elbow joint. The control system utilized a Proportional Controller to regulate the exoskeleton motor and a Fuzzy Logic Controller to adjust the intensity of the FES stimulus. The stimulus was applied alternately to the Biceps and Triceps Brachii muscles during flexion and extension movements. FES in the hybrid system served as a neuromuscular therapy with sub-threshold and supra-threshold stimuli, while the exoskeleton provided physical therapy by exerting external forces on the elbow joint. Experiments were conducted with five healthy subjects performed flexion and extension movements of the elbow with a sinusoidal trajectory. The results of this study demonstrated the successful integration of the hybrid system in facilitating simultaneous physical and neuromuscular therapy. The experiment results showed that in the hybrid system with sub-threshold stimulation, an RMSE of 1.6514 ± 0.009 degree was obtained, and no movement was detected in the elbow joint as a response to the stimulus. On the other hand, in the hybrid system with supra-threshold stimulation, an RMSE of 1.6502 ± 0.003 degree was obtained, and movement was detected in the elbow joint as a response to the stimulus.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Pasca Stroke, Hybrid Eksoskeleton-FES, closed loop, Fuzzy Logic Controller, Proportional Controller; Post-Stroke, Hybrid Exoskeleton-FES, closed loop, Fuzzy Logic Controller, Proportional Controller
Subjects:	Q Science > QA Mathematics > QA9.64 Fuzzy logic R Medicine > RM Therapeutics. Pharmacology > RM871 Electric stimulation. R Medicine > RM Therapeutics. Pharmacology > RM950 Rehabilitation technology. T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Nur Azizah
Date Deposited:	05 Oct 2023 02:31
Last Modified:	05 Oct 2023 02:31
URI:	http://repository.its.ac.id/id/eprint/104058

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