Basith, Aidatunisadina Linazizah (2016) Desain Dan Evaluasi Performansi Dari Embedded Fuzzy Functional Electrical Stimulation Metode Cycle-To-Cycle Control Untuk Restorasi Gerakan Repetitif Sendi Lutut. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Beberapa penyakit, seperti stroke dan spinal cord injury, dapat mengakibatkan
kelumpuhan serta hilangnya fungsi dasar anggota gerak pada individu yang
mengalaminya. Fungsi tersebut dapat dikembalikan melalui rehabilitasi medik
menggunakan metode Functional Electrical Stimulation (FES). Agar rehabilitasi
dapat berjalan efektif serta dapat meningkatkan kualitas hidup dan kemandirian
individu, maka sistem FES perlu dibuat dalam bentuk perangkat yang wearable
dengan kontrol closed-loop. Pada penelitian ini, kontroler fuzzy untuk FES
wearable telah dirancang dan diimplementasikan pada embedded system.
Kontroler dirancang untuk mengontrol enam gerakan anggota gerak bagian bawah
dan terbagi menjadi dua jenis kontroler, yaitu kontroler Single Input Single Output
(SISO) dan Multi Input Single Output (MISO). Performansi kontroler dievaluasi
melalui pengujian eksperimental untuk mengontrol gerakan fleksi dan ekstensi
sendi lutut dengan subyek normal. Pengujian dilakukan dengan tujuan mengetahui
kemampuan sistem untuk menghasilkan burst duration stimulasi secara otomatis
serta melakukan kompensasi terhadap kelelahan otot yang terjadi pada subyek.
Parameter pegujian berupa settling index (SI) dan nilai Root Mean Squared Error
(RMSE). Dari hasil pengujian, SI untuk semua subyek dalam pengujian
pengontrolan gerakan fleksi lutut maksimum bernilai antara 2-10 siklus, dengan
nilai RMSE kurang dari 7o, sedangkan SI untuk pengujian kontrol gerakan
ekstensi lutut maksimum bernilai antara 3-10 siklus dan nilai RMSE kurang dari
5°. Error maksimum pada saat terjadi kelelahan otot adalah sebesar 9.1°. Indeks
rekoveri yang dibutuhkan sebesar 13 siklus dengan error absolut bernilai kurang
dari atau sama dengan Δθ sebesar 3.5°. Hal ini membuktikan bahwa kontroler
yang dirancang mampu menyesuaikan stimulasi dengan kondisi pengguna secara
langsung, serta mampu meregulasi burst duration dan mengatasi kelelahan otot
yang terjadi pada subyek. Dengan respon yang cepat, kontroler diharapkan dapat
diterapkan untuk aplikasi klinis.
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Some diseases and accidents, like stroke and spinal cord injury, can result in
paralyzed limb and the loss of basic function of the limb. Those functions can be
restored through medical rehabilitation using Functional Electrical Stimulation
(FES) method. In order for the medical rehabilitation to be done effectively and
able to increase life’s quality and independency of the user, the FES system
should be made as a wearable device using closed-loop control. In this research,
fuzzy controller for wearable FES was designed and implemented in embedded
system. The controller was designed to control six movements of lower limb,
divided into two, which are Single Input Single Output (SISO) and Multi Input
Single Output (MISO) controllers. The performance evaluation of controller was
done using experimental test to control flexion and extension movements of kneejoint
in normal subject. The evaluation was done to know the ability of the system
to regulate burst duration automatically and the ability to compensate muscle
fatigue in subject. The evaluation parameters were settling index and Root Mean
Squared Error (RMSE). From the result, SI for all subjects in maximum knee
flexion control was 2-10 cycles, with MSE less than 7o, while SI for maximum
knee extension control was 3-10 cycles with RMSE less than 5°. Maximum error
when muscle fatigue happened was 9.1°. Recovery index needed was 13 cycles
with absolute error less than or equal to Δθ, about 3.5°. It was proven that the
designed controller was able to accommodate subject’s condition directly, able to
regulate burst duration automatically, and able to compensate muscle fatigue in
subject. With fast response, the controller designed was expected to be
implemented for clinical application.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 621.381 548 Bas d 3100016067297 |
| Uncontrolled Keywords: | wearable functional electrical stimulation, gerakan sendi lutut, stimulator, burst duration, kelelahan otot, wearable functional electrical stimulation, knee-joint movement, stimulator, burst duration, muscle fatigue |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ223.P76 Programmable controllers |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | - Davi Wah |
| Date Deposited: | 03 Mar 2020 05:15 |
| Last Modified: | 03 Mar 2020 05:15 |
| URI: | http://repository.its.ac.id/id/eprint/75188 |
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