Pengaturan Kecepatan Gerak Kursi Roda Listrik untuk Penyandang Disabilitas Berdasarkan Subject Intention Variabel Menggunakan Sinyal Myoelectri

Ambarwati, Elvina (2020) Pengaturan Kecepatan Gerak Kursi Roda Listrik untuk Penyandang Disabilitas Berdasarkan Subject Intention Variabel Menggunakan Sinyal Myoelectri. Undergraduate thesis, InstitutTeknologi Sepuluh Nopember.

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Abstract

Kursi roda listrik digunakan untuk membantu mobilitas penderita kelumpuhan lebih mandiri. Seiring berjalannya kemajuan teknologi, kursi roda listrik dapat dikendalikan menggunakan sinyal otot atau myoelectric. Pada studi sebelumnya mengenai kursi roda listrik dengan myoelectric, penggunaan sinyal myoelectric secara adaptif untuk kebutuhan perubahan kecepatan dan untuk pengendali motor kursi roda tidak menjadi fokusan penelitian sebelumnya. Dalam penelitian ini merancang proses thresholding dengan adaptive threshold, selanjutnya membandingkan proses adaptive threshold dengan rangkaian analog dan microcontroller. Selanjutnya, pengaturan perubahan kecepatan gerak kursi roda berbasis subject intention variable speed dirancang agar pengguna kursi roda dapat memilih tingkatan kecepatan dengan gerakan otot Carpi Radialis. Pengendali kecepatan yang digunakan dalam penelitian ini yaitu pengendali PID. Pada penelitian ini juga terdapat sistem deteksi hambatan menggunakan sensor jarak yang bertujuan untuk menjaga keamanan kursi roda listrik agar kursi roda listrik tidak menabrak benda yang ada didepannya. Dalam penelitian ini didapatkan hasil dalam proses adaptive thresholding untuk menentukan klasifikasi gerakan kursi roda menggunakan microcontroller yang memiliki keberhasilan tinggi sebesar 92%. Dan untuk pengujian metode subject intention variable speed dengan 4 subjek tingkat keberhasilan sebesar 97,5%. Pengendali PID merupakan metode yang tepat untuk menjaga kestabilan dan pengendali kecepatan untuk kursi roda, hal ini dibuktikan dengan RMSE sebesar 7,52% untuk motor kanan dan untuk motor kiri RMSE sebesar 6,77 %. Sementara, untuk sistem deteksi hambatan yang dirancang pada penelitian ini efektif untuk sistem deteksi hambatan kursi roda listrik jarak dekat. ================================================================================================ Electric wheelchair used to help mobility of disabilities person be more independent. The most common way to navigate and control the electric wheelchair is use of a joy-stick and keyboard. In the development of electric wheelchair technology, electric wheelchairs can be controlled using muscle or myoelectric signals. In previous studies of electric wheelchairs with myoelectric, the use of adaptive myoelectric signals for the needs of speed changes has not become a focus. And for wheelchair motor controllers not being the focus of previous research. In this study design the thresholding process with an adaptive threshold, then compare the adaptive threshold process with analog and microcontroller. Furthermore, control wheelchair speed based on subject intention variable speed is designed so that wheelchair users can choose the level of speed with Carpi Radialis muscle movements. The speed control method used in this study is the PID controller. In this study there is also an obstacle detection system using a proximity sensor that purpose to maintain the safety of electric wheelchairs so that electric wheelchairs do not crash into objects in front of them. In this study the results obtained in the thresholding process to determine the classification of wheelchair movements using a microcontroller that has a high success is 92%. And general testing of subject intention variable speed method with 4 subjects the success rate average was 97.5%. The average RMSE of PID controller testing is 4%. PID controllers are the appropriate method to maintain stability and speed control for wheelchairs, this is evidenced by the RMSE of 7.52% for the right motor wheelchair and the RMSE of 6.77% for the left motor wheelchair.Meanwhile, the obstacle detection system designed in this study is effective for short-range electric wheelchair obstacle detection systems.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: myoelectric, subject intention variabel speed, PID controller, obstacle detection, electrical wheelchair. myoelectric, subject intention variabel speed, pengendali PID, deteksi hambatan, kursi roda listrik.
Subjects: R Medicine > RA Public aspects of medicine > RA0421 Public health. Hygiene. Preventive Medicine
R Medicine > RZ Other systems of medicine
T Technology > T Technology (General) > T58.62 Decision support systems
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc.
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User: Elvina Ambarwati
Date Deposited: 27 Aug 2020 01:06
Last Modified: 27 Aug 2020 01:06
URI: http://repository.its.ac.id/id/eprint/79942

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