Pengujian Eksperimental Metode Cycle-To-Cycle Pada Knee-Ankle Multijoint Fes Gait Control

Rasheeda, Faiq Dafa (2025) Pengujian Eksperimental Metode Cycle-To-Cycle Pada Knee-Ankle Multijoint Fes Gait Control. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5023211035_Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (4MB) | Request a copy

Abstract

Stroke merupakan penyakit yang dapat menyebabkan hemiplegia, yaitu kelumpuhan satu sisi tubuh yang mengganggu kemampuan berjalan. Functional Electrical Stimulation (FES) telah terbukti efektif dalam membantu rehabilitasi pasien stroke dengan merangsang otot yang lumpuh secara elektrik. Penelitian ini bertujuan mengembangkan sistem wearable FES dengan metode kontrol cycle-to-cycle yang berfokus pada interaksi gerakan sendi lutut dan pergelangan kaki (knee-ankle joint) untuk merehabilitasi otot Vastus, Gastrocnemius medialis, Tibialis anterior, dan Soleus. Sistem yang dikembangkan terdiri dari rangkaian power supply yang menghasilkan tegangan 5V dan 3,3V, rangkaian FES yang mampu menghasilkan tegangan stimulasi hingga 100V pada frekuensi 15 kHz, dan sistem estimasi sudut joint menggunakan kombinasi sensor IMU (accelerometer dan gyroscope) yang diproses dengan Low Pass Filter dan Kalman Filter. Fuzzy Logic Controller (FLC) dengan arsitektur MISO dan SISO digunakan untuk mengatur durasi stimulasi burst berdasarkan nilai error sudut dan rentang yang diinginkan, dengan implementasi cycle-to-cycle control yang menyesuaikan durasi stimulasi berdasarkan hasil siklus sebelumnya. Hasil pengujian menunjukkan sistem mampu mengestimasi sudut joint dengan akurasi error rata-rata 1-3 derajat untuk knee joint dan ankle joint. Pengujian pada subjek menunjukkan adanya perbaikan parameter gait setelah pemberian stimulasi FES, seperti peningkatan sudut ekstensi lutut dari 4,5° menjadi -10,7° dan peningkatan ankle dorsiflexion dari 3,8° menjadi 6,4°. Sistem multicore Arduino GIGA R1 mencapai sampling rate optimal 149-153 Hz pada konfigurasi pembacaan ADC langsung di core M7. Meskipun sistem FLC masih memerlukan optimasi untuk meningkatkan kestabilan stimulasi, hasil penelitian menunjukkan potensi signifikan dalam memperbaiki pola berjalan subjek hemiplegia melalui kontrol cycle-to-cycle pada knee-ankle multijoint FES.
=====================================================================================================================================
Stroke is a medical condition that can lead to hemiplegia, a paralysis of one side of the body that impairs walking ability. Functional Electrical Stimulation (FES) has proven effective in aiding stroke rehabilitation by electrically stimulating paralyzed muscles. This study aims to develop a wearable FES system with a cycle-to-cycle control method, focusing on the interaction of knee and ankle joints to rehabilitate the Vastus, Gastrocnemius medialis, Tibialis anterior, and Soleus muscles. The developed system includes a power supply circuit that provides 5V and 3.3V, an FES circuit capable of generating stimulation voltages up to 100V at 15 kHz, and a joint angle estimation system using a combination of IMU sensors (accelerometer and gyroscope) processed through a Low Pass Filter and Kalman Filter. A Fuzzy Logic Controller (FLC) with MISO and SISO architecture regulates the stimulation burst duration based on joint angle error and desired range, with a cycle-to-cycle implementation that adjusts stimulation based on the previous gait cycle. Test results show the system can estimate joint angles with an average error of 1–3 degrees for the knee and ankle. Subject testing indicated improved gait parameters following FES stimulation, such as an increase in knee extension from 4.5° to -10.7° and ankle dorsiflexion from 3.8° to 6.4°. The multicore Arduino GIGA R1 achieved an optimal sampling rate of 149–153 Hz with direct ADC reading on the M7 core. Although the FLC still requires optimization to improve stimulation stability, the results demonstrate significant potential for improving gait patterns in hemiplegic subjects through cycle-to-cycle control in knee-ankle multijoint FES.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Cycle-to-Cycle Control, Functional Electrical Stimulation, Fuzzy Logic Controller, Hemiplegia, Knee-Ankle Joint.
Subjects:	R Medicine > RM Therapeutics. Pharmacology > RM950 Rehabilitation technology.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Faiq Dafa Rasheeda
Date Deposited:	05 Aug 2025 01:39
Last Modified:	05 Aug 2025 01:39
URI:	http://repository.its.ac.id/id/eprint/127069

Actions (login required)

View Item