Silalahi, Putra Bungaran Roynaldo (2025) Implementasi Protokol Keselamatan Dan Desain Graphical User Interface (GUI) Pada Robot Rehabilitasi Pergelangan Kaki Berbasis 3-RPS Parallel Manipulator. Other thesis, Institut Teknologi Sepuluh Nopember.
![[thumbnail of 5007211052-Undergraduate_Thesis.pdf]](http://repository.its.ac.id/style/images/fileicons/text.png) |
Text
5007211052-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (5MB) | Request a copy |
Abstract
Pemanfaatan robot 3-RPS Parallel Manipulator dalam bidang kesehatan menawarkan alternatif modern untuk rehabilitasi pergelangan kaki, yang memungkinkan terapi dilakukan secara presisi dan konsisten dengan repetisi tinggi. Penelitian ini bertujuan untuk mengimplementasikan protokol keselamatan dan desain antarmuka pengguna (GUI) pada robot rehabilitasi pergelangan kaki berbasis 3-RPS parallel manipulator. Sistem terdiri dari aktuator linear, sensor beban (load cell), dan encoder sebagai umpan balik untuk mengatur gerakan berdasarkan trajektori yang telah dihitung secara teoritis. Protokol keselamatan dua tingkat diterapkan untuk mencegah cedera pada pasien: threshold pertama menyebabkan sistem berhenti sementara, sedangkan threshold kedua mengarahkan sistem kembali ke posisi awal dan berhenti total. GUI dirancang menggunakan EasyBuilder Pro untuk menampilkan data posisi dan beban secara real-time serta memberikan kendali penuh terhadap sistem melalui tampilan HMI. Dalam mengelola komunikasi serial antara mikrokontroler dan sistem pengendali, serta menangani logika pengambilan keputusan berdasarkan pembacaan sensor dilakukan pengembangan perangkat lunak menggunakan bahasa pemograman C++. Eksperimen dilakukan dengan tiga skenario: tanpa beban pasien, beban melebihi threshold 1, dan beban melebihi threshold 2. Hasil menunjukkan bahwa sistem dapat mengikuti trajektori secara presisi dengan rata-rata RMSE posisi di bawah 1,225 mm. Protokol keselamatan terbukti berhasil merespons gaya berlebih secara efektif. Sistem juga mampu menjaga kestabilan serta memberikan pengalaman interaksi real-time yang aman dan responsif bagi pengguna.
========================================================================================================================================
The utilization of 3-RPS parallel manipulator robots in healthcare offers a modern alternative for ankle rehabilitation, enabling therapy to be performed with precision, consistency, and high repetition. This research aims to implement safety protocols and a graphical user interface (GUI) on an ankle rehabilitation robot based on a 3-RPS parallel manipulator. The system consists of linear actuators, a load cell, and encoders for feedback to regulate movement based on theoretically calculated trajectories. A two-tiered safety protocol is implemented to prevent patient injury: the first threshold causes the system to pause temporarily, while the second directs the system back to its home position and comes to a complete stop. The GUI, designed using EasyBuilder Pro, displays real-time position and load data and provides full system control through an HMI display. The software, developed in the C++ programming language, manages serial communication between the microcontroller and the control system, as well as handling decision-making logic based on sensor readings. Experiments were conducted under three scenarios: without a patient's load, with a load exceeding threshold 1, and with a load exceeding threshold 2. The results show that the system can precisely follow the trajectory with an average position RMSE below 1.225 mm. The safety protocol was proven to respond effectively to excessive force. The system also successfully maintained stability and provided a safe, responsive, real-time interactive experience for the user.
Actions (login required)
 |
View Item |