Perancangan Sistem Kontrol Motor Kursi Roda Secara Nirkabel Berbasis ESP32

Ekatama, I Putu Haris Setiadi (2024) Perancangan Sistem Kontrol Motor Kursi Roda Secara Nirkabel Berbasis ESP32. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kelumpuhan merupakan suatu keadaan dimana penderita mengalami pelemahan fungsi pada anggota tubuhnya sehingga penderita tidak bertenaga atau tidak menggerakkan anggota tubuh sebagaimana mestinya. Terdapat beberapa kondisi yang dapat mengakibatkan kelumpuhan, mulai dari penyakit seperti stroke hingga kecelakaan. Seseorang yang mengalami kelumpuhan sering kali memiliki permasalahan dalam hal mobilitas sehari-hari. Mereka memerlukan alat tambahan agar dapat beraktivitas, salah satunya adalah kursi roda. Hingga saat ini telah terdapat kursi roda elektrik yang dikendalikan dengan menggunakan joystrick. Akan tetapi penggunaan joystick belum dapat menjawab permasalahan dari seseorang yang mengalami kelumpuhan. Karena bagi orang yang mengalami kelumpuhan pada bagian lengan akan kesusahan dalam mengendalikan kursi roda elektrik berjenis ini. Pada penelitian ini telah dikembangkan kontroler kursi roda elektrik yang dapat digerakkan melalui teknologi visi komputer, baik dengan pose tangan maupun gestur kepala. Integrasi teknologi ini dapat menjadi solusi yang inovatif terhadap permasalahan yang sedang dihadapi. Pemilihan ESP32 sebagai mikrokontroler urama menjadi langkah strategis, karena kemampuanya dalam mengatur kerja motor dengan presisi. Selain berfungsi sebagai kontroler motor, ESP32 juga berperan sebagai perangkat penerima data dari komputer yang dilengkapi dengan teknologi visi komputer. Dari hasil pengujian, didapatkan suatu kesimpulan bahwa pengiriman dari visi komputer sebaiknya dikirim dalam bentuk JSON dan ditransmisikan menggunakan WiFi. Hal ini dilakukan karena transmisi data dalam bentuk JSON dan ditransmisikan melalui WiFi memiliki waktu delay yang terbaik, yaitu 1,032374783 detik. Melalui integrasi ini, diharapkan bahwa kontroler motor dapat beroperasi secara sinergis dengan informasi yang diterima dari komputer dan menciptakan sebuah sistem yang efisien dan responsif
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Paralysis is a condition where the sufferer experiences a weakening of the function of their body parts so that the sufferer has no strength or does not move their body parts as they should. There are several conditions that can cause paralysis, ranging from diseases such as stroke to accidents. Someone who experiences paralysis often has problems with daily mobility. They need additional equipment to be able to move, one of which is a wheelchair. Until now, there are electric wheelchairs that are controlled using a joystick. However, using a joystick cannot answer the problems of someone who is paralyzed. Because people who experience paralysis in their arms will have difficulty controlling this type of electric wheelchair. In this research, an electric wheelchair controller has been developed that can be moved using computer vision technology, both with hand poses and head gestures. The integration of this technology can be an innovative solution to the problems being faced. Choosing the ESP32 as the main microcontroller was a strategic step, because of its ability to regulate motor work with precision. Apart from functioning as a motor controller, the ESP32 also acts as a data receiving device from a computer equipped with computer vision technology. From the test results, it was concluded that computer vision transmissions should be sent in JSON form and transmitted using WiFi. This is done because data transmission in JSON form and transmitted via WiFi has the best delay time, namely 1.032374783 seconds. Through this integration, it is hoped that the motor controller can operate synergistically with the information received from the computer and create an efficient and responsive system

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kursi Roda, Convolutional Neural Network, Mediapipe, ESP32, WiFi; Wheelchair, Convolutional Neural Network, Mediapipe, ESP32, WiFi
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105 Data Transmission Systems T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Computer Engineering > 90243-(S1) Undergraduate Thesis
Depositing User:	I Putu Haris Setiadi Ekatama
Date Deposited:	16 Feb 2024 06:32
Last Modified:	16 Feb 2024 06:32
URI:	http://repository.its.ac.id/id/eprint/107233

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