Rancang Bangun Sistem Kontrol Exo-Fes Hybrid Upper Limb Dengan Wearable Joint Angle Sensors Dan Fuzzy Controller Untuk Rehabilitasi Pasca Stroke

Adi, Tri Ahmad (2022) Rancang Bangun Sistem Kontrol Exo-Fes Hybrid Upper Limb Dengan Wearable Joint Angle Sensors Dan Fuzzy Controller Untuk Rehabilitasi Pasca Stroke. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Gangguan fungsional otak fokal maupun global yang disebabkan oleh masalah vaskuler yang ditandai dengan gejala klinis merupakan salah satu ciri orang mengalami stroke. Metode rehabilitasi pasien pasca stroke umumnya menggunakan sistem rangsangan elektrik atau FES (Functional Electrical Stimulation). Penggunaan FES secara terus-menerus dapat menyebabkan fatigue pada otot yang distimulasi. Penelitian ini mengembangkan sistem wearable FES untuk gerakan fleksi-ekstensi pada sendi siku dan bahu. Modul FES terdiri dari rangkaian power supply, Boost Converter, dan Pulse Generator. Modul sensor terdiri dari main module sensor dan board sensor yang dipasang pada segmen bahu, lengan atas, dan lengan bawah menggunakan deker dan velcro. Boost Converter mampu menghasilkan tegangan keluaran 143V dan Pulse Generator mampu menghasilkan pulsa 19,9787 Hz selebar 200-230μs. Sistem kontrol FES didasarkan pada pengukuran joint angle sensors berbasis Fuzzy Controller yang dikembangkan secara wearable dari sensor gyroscope dan accelerometer dengan pengolahan sinyal Kalman Filtering. Gyroscope dan accelerometer mengukur tilt angle yang menghasilkan joint angle saat dilakukan stimulus pada otot penggerak sendi siku dan bahu. Kalibrasi sensor dilakukan untuk mengestimasi error sudut kalman filtering. Fuzzy Controller pada FES berperan untuk meregulasi parameter intensitas stimulasi untuk menghasilkan amplitudo gerakan sesuai dengan target trajectory. Pengujian FES open loop berhasil mengkontraksikan otot pada duty cycle 10% dengan frekuensi 15kHz. Hasil RMSE rata-rata sebesar 14,60 pada sendi siku dan 6,85 sendi bahu. RMSE besar disebabkan adanya delay dari mikrokontroler, bluetooth, dan proses reander di User Interface yang dilakukan secara realtime. Nilai error sudut Kalman Filtering dipengaruhi faktor morfologi dan fisiologis seperti bentuk tangan, massa otot dan lemak. ==============================================================================================================================
Focal and global brain functional disorders caused by vascular problems characterized by clinical symptoms are one of the characteristics of people having a stroke. The rehabilitation method for post-stroke patients generally uses an electrical stimulation system or FES (Functional Electrical Stimulation). Continuous use of FES can cause fatigue in the stimulated muscles. This research developed a wearable FES system for flexion-extension movements in the elbow and shoulder joints. The FES module consists of power supply circuit, Boost Converter, and Pulse Generator. The sensor module consists of the main sensor module and the sensor board which are placed on the shoulder, upper arm, and forearm segments using a decker and velcro. The Boost Converter is capable to produce an output voltage of 143V and the Pulse Generator is capable to produce 19.9787 Hz pulses as wide as 200-230μs. FES control system is based on measurement of joint angle sensors based on Fuzzy Controller which is developed wearable from gyroscope and accelerometer sensors with Kalman Filtering signal processing. The gyroscope and accelerometer measure the tilt angle that produces the joint angle when a stimulus is applied to the muscles that move the elbow and shoulder joints. Sensor calibration is carried out to estimate the error of the kalman filtering angle. The Fuzzy Controller in FES uses to regulate the stimulation intensity parameters to produce a movement amplitude according to the trajectory target. The FES open loop test succeeded in contracting the muscles at a 10% duty cycle with a frequency of 15kHz. The average RMSE results were 14.60 in the elbow joint and 6.85 in the shoulder joint. The large RMSE is due to delays from the microcontroller, bluetooth, and the rendering process in the User Interface which is carried out in real time. The error value of the Kalman Filtering angle is influenced by morphological and physiological factors such as hand shape, muscle mass and fat.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Exo-Fes. Rehabilitasi Pasca Stroke. Exo-Fes. Post-Stroke Rehabilitation.
Subjects:	R Medicine > R Medicine (General) > R857.M3 Biomedical materials. Biomedical materials--Testing.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	18 Jun 2026 03:00
Last Modified:	18 Jun 2026 03:00
URI:	http://repository.its.ac.id/id/eprint/133879

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