Sistem Closed Loop Functional Electrical Stimulus (FES) pada aktivitas menggenggam menggunakan informasi sensori posisi jarak dan gaya haptic

Vilaili, Dinda Kartika (2017) Sistem Closed Loop Functional Electrical Stimulus (FES) pada aktivitas menggenggam menggunakan informasi sensori posisi jarak dan gaya haptic. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penderita kerusakan pada sistem saraf pusat, atau Spinal Cord Injury(SCI), termasuk di antaranya stroke, mengalami penurunan pada sistem sensori dan motorik pada tubuh. Berdasarkan hasil pengukuran EMG serta pengukuran secara mekanis, pergerakan persendian anggota gerak pada penderita SCI lebih kaku dari orang normal. Kekakuan pada anggota gerak ini mengakibatkan penderita tidak mampu mengendalikan gerakan tangan, salah satunya dalam menggenggam objek, sehingga mengakibatkan kerusakan pada objek yang digenggam. Functional Electrical Stimulation (FES) merupakan salah satu cara rehabilitasi pergerakan persendian tersebut. Electrical stimulator menghasilkan output berupa gelombang kotak dengan karakteristik lebar pulsa 200µS, frekuensi 20Hz dan amplitudo maksimal 100 V. Output hasil stimulus tersebut akan di berikan pada otot tangan, sehingga menghasilkan genggaman pada jari-jari tangan. Nilai sensori yang didapatkan selanjutnya diolah menggunakan filter digital moving average filter untuk mendapatkan hasil yang stabil untuk selanjutnya diolah menggunakan kontroller fuzzy. Berdasarkan penelitian ini didapatkan bahwa pembacaan sensor jarak menghasilkan genggaman yang cukup akurat dan dengan bantuan sensor gaya dapat meningkatkan persepsi genggaman pengguna. Selain itu, terdapat faktor-faktor lain yang dapat memengaruhi pembacaan sensor, yakni ukuran objek, kemampuan objek untuk memantulkan cahaya yang diterima, posisi genggaman, serta ukuran otot subjek. Pada penelitian selanjutnya diharapkan dilakukan penelitian lebih lanjut untuk mengatasi faktor pemengaruh lainnya seperti menggunakan sensor berat serta sensor tekanan ================================================================== Spinal Cord Injury (SCI) patient, such as stroke, showing degradation of sensory and motoric body system. Based on EMG and mechanical measurement, limb joint movement of SCI patient more rigid than nomal people limb join. Limb joint rigidity makes SCI patient cannot control their hand movement, one of which is grasping object, that would lead to breaking object they grasp. Functional Electrical Stimulation (FES) is one of limb joint restoration method. Electrical Stimularor produce a square wave output thah has 200μS pulse width, 20 Hz, frequency, and 100V maximum volage. Output from this stimulus used to drive specific muscle, that would move finger joint to form grasping movement. Sensory information obtained being processed using moving average filter digital filter to gain stable output then being processed by fuzzy controller. Based on this research we found that proximity sensor result an accurate grasping movement and force sensor enhance finger grasping persepsion. Furthermore, there are several factor that affect sensor reads, such as object size, object ability to reflect light, grasping position, an subject’s muscle size In the next research, another sensor that would help to prevent other factor that would affect system works should be studied, such as weight sensor and pressure sensor.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 615.845 Vil s
Uncontrolled Keywords: functional electrical stimulator, stroke, spinal cord injury, moving average filter, fuzzy controller
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.5 Modulation (Electronics), Demodulation (Electronics)
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: Dinda Kartika Vilaili
Date Deposited: 11 Oct 2017 02:37
Last Modified: 08 Mar 2019 02:18
URI: http://repository.its.ac.id/id/eprint/46682

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