Studi Eksperimental Wearable Functional Electrical Stimulation Pada Pergerakan Knee Joint Dengan Menggunakan Sistem Kendali Cycle-to-cycle Control

Setiawan, Stanley (2016) Studi Eksperimental Wearable Functional Electrical Stimulation Pada Pergerakan Knee Joint Dengan Menggunakan Sistem Kendali Cycle-to-cycle Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pada penelitian ini dikembangkan sebuah perangkat functional electrical stimulation yang mudah digunakan (wearable) dengan sistem kendali cycle-to-cycle control untuk restorasi gerakan pada knee joint. Perancangan perangkat keras menggunakan sistem sensor dan rangkaian pembangkit sinyal. Pada sistem sensor, digunakan sensor accelerometer dan gyroscope yang digabungkan untuk mendapatkan sudut sebagai nilai feedback pada sistem kendali. Untuk menguji ketepatan sensor, dilakukan pengukuran pada model kaki statis, dan didapatkan nilai RMSE sebesar 0.714°. Rangkaian pembangkit sinyal yang telah dirancang dapat menghasilkan tegangan maksimum sebesar 98 Volt, dengan frekuensi 20Hz dan lebar pulsa 200 μS. Sistem kendali cycle-to-cycle menggunakan sistem fuzzy controller dengan 2 kondisi berbeda yaitu single input single output (SISO) untuk gerakan knee flexion dan multiple input single ouput (MISO) untuk gerakan knee extension. Nilai input yang digunakan pada SISO adalah nilai error yang didapatkan dari selisih sudut tercapai, sedangkan pada MISO adalah nilai error dan nilai desired range. Hasil keluaran dari fuzzy adalah nilai ΔTB sebagai durasi stimulasi pada stimulator. Percobaan dilakukan dengan posisi “duduk” dan “berdiri” untuk kedua gerakan flexion dan extension. Dari percobaan pada 8 subyek yang sehat, didapatkan bahwa rata – rata settling time untuk knee extension duduk adalah 5 siklus dan berdiri adalah 4 siklus. Sedangkan untuk knee flexion duduk adalah 6 siklus sedangkan berdiri adalah 9 siklus. ========== In this study, a wearable functional electrical stimulation with a cycle-to-cycle control system for knee joint restoration was developed. The hardware system consisted of a sensor system and a pulse generating circuit. In the sensor system an accelerometer and a gyroscope sensor was fused to measure the tilt angles from the knee joint. For measuring the accuracy of the sensors, it was placed on a synthetic static knee joint and the RMSE result was as small as 0.714°. The pulse generating circuit used for this study can produce a maximum voltage of 98 Volts with a 20 Hz frequency and a width of 200 μS each pulse. A fuzzy controller with 2 different conditions was used for the cycle-to-cycle control system. Those conditions are the single input single output (SISO) for knee flexion, and multiple input single output for knee extension. The input value for SISO controller was the error value, obtained from the difference of obtained angle, as for the MISO controller, the input values were error value and the desired range. The result obtained from these fuzzy controllers were the ΔTB as the burst duration from the stimulators. Experiments on human subjects were held for 8 different healthy subjects for sitting and standing positions on knee flexion and extension. From these experiments, the average settling time on knee extension while sitting is 5 cycles, as for standing was 4 cycles. On the other hand, the settling time on knee flexion while sitting was 6 cycles while for standing was 9 cycles.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 621.381 548 Set s 3100016065516
Uncontrolled Keywords: Knee joint, Cycle-to-cycle, FES, Functional Electrical Stimulation, Fuzzy
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA1573 Detectors. Sensors
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: - Davi Wah
Date Deposited: 13 Nov 2019 07:50
Last Modified: 13 Nov 2019 07:50
URI: http://repository.its.ac.id/id/eprint/71712

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