Studi Eksperimental Sistem FES Hemiplegic Gait Gerakan Hip-Knee Joint Dengan Cycle-To-Cycle Control Terealisasi Pada Platform Telerehabilitasi

Akbar, M Faris (2026) Studi Eksperimental Sistem FES Hemiplegic Gait Gerakan Hip-Knee Joint Dengan Cycle-To-Cycle Control Terealisasi Pada Platform Telerehabilitasi. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Stroke merupakan salah satu penyebab utama disabilitas yang sering mengakibatkan hemiplegia sehingga menurunkan kemampuan berjalan (gait) pada ekstremitas bawah. Functional Electrical Stimulation (FES) merupakan metode rehabilitasi yang efektif untuk mengembalikan fungsi motorik, namun penelitian sebelumnya pada koordinasi sendi hip dan knee masih terbatas serta belum mendukung pemantauan terapi secara jarak jauh. Penelitian ini mengembangkan sistem wearable functional electrical stimulation berbasis closed-loop yang terintegrasi dengan telerehabilitasi. Sistem menggunakan tiga sensor Inertial Measurement Unit (IMU), dua sensor Force Sensing Resistor (FSR), serta metode cycle-to-cycle fuzzy logic controller untuk menyesuaikan durasi stimulasi berdasarkan error sudut pada setiap siklus berjalan. Hasil pengujian pada lima subjek normal dan satu subjek hemiplegia menunjukkan bahwa sistem mampu memperbaiki karakteristik gaya berjalan. Pada subjek hemiplegia, rasio fase berjalan mengalami perbaikan dengan penurunan stance phase yang terlalu dominan dari 74.0±3.0% menjadi 63.7±10.8% dan peningkatan swing phase dari 26.0±3.0% menjadi 36.3±10.8%. Dari aspek kinematika, stimulasi FES berhasil meningkatkan maximum hip flexion during swing dari 20.4±2.3° menjadi 25.0±3.0° serta maximum knee flexion during swing dari 28.5±3.0° menjadi 31.9±2.2°. Selain itu, platform telerehabilitasi berhasil mengirimkan parameter terapi secara real-time tanpa memengaruhi performa kontrol FES. Hasil penelitian menunjukkan bahwa sistem yang dikembangkan berpotensi menjadi solusi rehabilitasi berjalan yang adaptif serta mendukung pemantauan terapi jarak jauh. Pengembangan di masa mendatang disarankan untuk mengadopsi bentuk sinyal stimulasi biphasic serta memperluas kontroler menjadi sistem multi-joint yang turut mencakup ankle joint. Selain itu, pengujian klinis perlu diperbanyak pada populasi subjek yang lebih bervariasi, khususnya pada pasien fase intervensi dini pasca-stroke, guna mengoptimalkan proses pemulihan memori motorik.
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Stroke is one of the leading causes of disability and often results in hemiplegia, which impairs lower-limb gait function. Functional Electrical Stimulation (FES) has been widely used as an effective rehabilitation method to restore motor function; however, previous studies on coordinated hip and knee joint control remain limited and generally do not support remote therapy monitoring. This study proposes a wearable closed-loop FES system integrated with a telerehabilitation platform. The system employs three Inertial Measurement Unit (IMU) sensors, two Force Sensing Resistor (FSR) sensors, and a cycle-to-cycle Fuzzy Logic Controller to adapt stimulation duration based on joint-angle error during each gait cycle. Experimental evaluation involving five healthy subjects and one hemiplegic subject demonstrated that the proposed system improved gait characteristics. In the hemiplegic subject, gait phase distribution became more balanced, with the stance phase decreasing from 74.0±3.0% to 63.7±10.8% and the swing phase increasing from 26.0±3.0% to 36.3±10.8%. From a kinematic perspective, FES increased the maximum hip flexion during swing from 20.4±2.3° to 25.0±3.0° and the maximum knee Flexion during swing from 28.5±3.0° to 31.9±2.2°. Furthermore, the telerehabilitation platform successfully transmitted therapy parameters in real time without affecting FES control performance. These results indicate that the proposed system has potential as an adaptive gait rehabilitation solution while supporting remote therapy monitoring. Future development is recommended to adopt a biphasic stimulation waveform and expand the controller into a multi-joint system that includes the ankle joint. Additionally, clinical trials should be expanded to a more diverse subject population, particularly early-intervention post-stroke patients, to optimize the motor relearning process.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Functional Electrical Stimulation (FES), Hemiplegia, Wearable Technology, Telerehabilitation
Subjects:	Q Science > QC Physics > QC665.E38 Electric fields. R Medicine > RZ Other systems of medicine T Technology > T Technology (General) > T59.7 Human-machine systems.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	M. Faris Akbar
Date Deposited:	01 Aug 2026 04:35
Last Modified:	01 Aug 2026 04:35
URI:	http://repository.its.ac.id/id/eprint/141409

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