Pengembangan Sistem Pengujian FES Berbasis Cycle-to-Cycle Control untuk Hip Joint Movement pada Pasien Hemiplegia dengan Knee-ankle Pasif Movement

Ritung, Abigail Benedictus Prabaswara (2026) Pengembangan Sistem Pengujian FES Berbasis Cycle-to-Cycle Control untuk Hip Joint Movement pada Pasien Hemiplegia dengan Knee-ankle Pasif Movement. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini bertujuan mengembangkan sistem rehabilitasi berbasis Functional Electrical Stimulation (FES) yang dirancang khusus untuk membantu pasien hemiplegia pasca-stroke dalam memulihkan kemampuan berjalan secara lebih alami dan fungsional. Fokus utama ditempatkan pada stimulasi hip joint, karena gerakan fleksi dan ekstensi pinggul sangat menentukan keberhasilan fase ayunan saat berjalan. Untuk mengisolasi kontribusi murni gerakan pinggul, lutut dan pergelangan kaki pasien dikunci menggunakan ortosis sehingga kedua sendi tersebut tidak ikut berkontribusi aktif dalam gerakan. Sistem ini menggunakan sensor IMU (akselerometer dan giroskop) pada segmen trunk dan thigh untuk memantau sudut sendi secara real-time dengan akurasi R² sebesar 0,9997, serta sensor FSR pada insole sepatu untuk mendeteksi fase gait. Data dari sensor diproses untuk mengatur durasi stimulasi listrik secara adaptif melalui metode cycle-to-cycle control dan Fuzzy Logic Controller. Rangkaian FES yang dikembangkan menghasilkan lebar pulsa 200–250 μs pada frekuensi 20 Hz dengan tegangan keluaran boost converter yang dapat diatur hingga mendekati 370 V. Pengujian pada lima subjek normal dan satu subjek hemiplegia menunjukkan bahwa stimulasi FES mampu meningkatkan Maximum Hip Flexion during Swing (MHFsw) dari 11,78° menjadi 19,18° peningkatan sebesar 63% yang mendekati nilai baseline normal (20,66°) serta memperbaiki proporsi stance-swing dari 62,39:37,61 menjadi 57,06:42,94 yang mendekati rasio ideal 60:40. Selain itu, knee orthosis custom berbahan PLA hasil 3D printing berhasil dikembangkan melalui proses desain iteratif tiga tahap untuk mengakomodasi kondisi genu recurvatum pada subjek hemiplegia. Sistem juga mendukung telerehabilitasi melalui pengiriman data cycle-per-cycle ke platform web fes.arifin.tech via WiFi. Meskipun demikian, pengujian masih terbatas pada jumlah subjek, sehingga diperlukan penambahan jumlah trial dan variasi subjek untuk memperkuat validitas statistik. Sebagai rencana pengembangan, sistem ini berpotensi diintegrasikan dengan teknologi Internet of Things (IoT) untuk mendukung pemantauan rehabilitasi secara kontinu melalui platform berbasis cloud.
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This research developed a wearable Functional Electrical Stimulation (FES) system specifically designed to assist hemiplegic patients in regaining functional and natural walking ability. The system focuses exclusively on hip joint stimulation, as hip flexion and extension are critical for initiating the swing phase during gait. To isolate the contribution of hip movement, knee and ankle joints were passively locked using orthoses, ensuring they did not actively participate in locomotion. Real-time joint angles were monitored using Inertial Measurement Units (IMU) comprising accelerometers and gyroscopes mounted on the trunk and thigh segments, achieving an accuracy of R² = 0.9997, while Force-Sensing Resistors (FSRs) placed in shoe insoles detected gait phases. Sensor data were processed to adaptively adjust electrical stimulation duration via a cycle-to-cycle control strategy and a Fuzzy Logic Controller (FLC). The FES circuitry produced pulse widths of 200–250 μs at 20 Hz with boost converter output voltage adjustable up to approximately 370 V. Testing on five healthy subjects and one hemiplegic subject demonstrated that FES stimulation increased Maximum Hip Flexion during Swing (MHFsw) from 11.78° to 19.18°, a 63% improvement approaching the normal baseline of 20.66° and improved the stance-swing ratio from 62.39:37.61 to 57.06:42.94, approaching the ideal 60:40 proportion. Additionally, a custom PLA knee orthosis was developed through a three-stage iterative design process using 3D printing to accommodate genu recurvatum conditions observed in the hemiplegic subject. The system also supports telerehabilitation through cycle-percycle data transmission to the web platform fes.arifin.tech via WiFi connectivity. However, testing was limited to a small number of subjects, necessitating additional trials and subject variability to strengthen statistical validity. Future development may integrate Internet of Things (IoT) technology to enable continuous rehabilitation monitoring through cloud-based platforms

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Functional Electrical Stimulation (FES), Hemiplegia, Hip Joint, Cycle-to-Cycle Control, Telerehabilitasi
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Abigail Benedictus Prabaswara Ritung
Date Deposited:	01 Aug 2026 04:23
Last Modified:	01 Aug 2026 04:23
URI:	http://repository.its.ac.id/id/eprint/141277

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