Desain Sistem Wearable Functional Electrical Stimulation (FES) Berbasis FLC untuk Restorasi Gerak Bahu Pada Frontal Plane.

Tsalitsa, Nafidzah Intishar Tammy (2026) Desain Sistem Wearable Functional Electrical Stimulation (FES) Berbasis FLC untuk Restorasi Gerak Bahu Pada Frontal Plane. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 07311940000061-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (3MB) | Request a copy

Abstract

Paralysis adalah kondisi lumpuh karena gangguan pada saraf yang berperan dalam mengatur gerakan otot tubuh. Disabilitas paling umum pada pasien pasca stroke adalah pelemahan pada fungsi motorik khususnya alat gerak bagian atas. Tujuan dari penelitian ini adalah membangun sebuah sistem rehabilitasi yang terdiri dari FES dan sebuah sistem kontrol dari integrasi sensor pengukuran sudut gyroscope dan accelerometer. 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 abduction-adduction pada sendi bahu. Pada penelitian ini modul FES digunakan dengan mikrokontroler STM32F103C8T6, serta 2 buah sensor accelerometer dan gyroscope untuk mengukur sudut pada lengan atas dan bahu. Divais wearable FES memiliki ukuran 21,5 cm x 10 cm x 6,5 cm dengan strap yang dapat digunakan pada bagian punggung. Modul FES terdiri dari rangkaian power supply, Boost Converter, dan Pulse Generator. Boost Converter mampu menghasilkan tegangan keluaran sebesar 140-180 V dan Pulse Generator mampu menghasilkan pulsa 19,97 Hz selebar 200-230µs. Fuzzy Controller pada FES berperan untuk meregulasi parameter intensitas stimulasi untuk menghasilkan amplitudo gerakan sesuai dengan target trajectory. Gyroscope dan accelerometer mengukur tilt angle yang menghasilkan joint angle saat dilakukan stimulus pada otot penggerak sendi bahu. Kalibrasi sensor dilakukan untuk mengestimasi error sudut kalman filtering. Pengujian closed-loop menghasilkan RMSE sebesar 4,97°, 4,97°, dan 3,89° pada tiga subjek, dengan rata-rata 4,61°, sehingga sistem mampu mengikuti trajectory target dengan kesalahan relatif kecil.
=====================================================================================================================================
Paralysis is a condition characterized by loss of muscle movement due to disturbances in the nervous system that controls motor functions. One of the most common disabilities experienced by post-stroke patients is the weakening of motor function, particularly in the upper limbs. Rehabilitation methods for post-stroke patients generally utilize Functional Electrical Stimulation (FES). However, continuous use of FES may lead to muscle fatigue in the stimulated muscles. This research develops a wearable FES system designed to facilitate abduction–adduction movements of the shoulder joint. In this study, the FES module is implemented using an STM32F103C8T6 microcontroller, along with two accelerometer and gyroscope sensors to measure the angles of the upper arm and shoulder. The wearable FES device has dimensions of 21.5 cm × 10 cm × 6.5 cm and is equipped with a strap that allows it to be worn on the upper back. The FES module consists of a power supply circuit, a boost converter, and a pulse generator. The boost converter is capable of producing an output voltage in the range of 140–180 V, while the pulse generator generates stimulation pulses at a frequency of 19.97 Hz with a pulse width of 200–230 µs. A fuzzy controller is implemented in the FES system to regulate the stimulation intensity parameters in order to achieve movement amplitudes that follow the target trajectory. The gyroscope and accelerometer measure the tilt angle, which is used to determine the joint angle during muscle stimulation of the shoulder joint. Sensor calibration is performed to estimate angular errors using Kalman filtering. Closed-loop testing yielded RMSE values of 4.97°, 4.97°, and 3.89° for the three subjects, with an average of 4.61°, indicating that the system was able to track the target trajectory with a relatively small error.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Paralysis, Functional Electrical Stimulation (FES), Fuzzy Controller, Sendi bahu. ======================================================================================================================== Paralysis, Functional Electrical Stimulation (FES), Fuzzy Controller, Shoulder joint.
Subjects:	R Medicine > RM Therapeutics. Pharmacology > RM950 Rehabilitation technology.
Divisions:	Faculty of Electrical Technology > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Nafidzah Intishar Tammy T
Date Deposited:	04 Aug 2026 06:31
Last Modified:	04 Aug 2026 06:31
URI:	http://repository.its.ac.id/id/eprint/143183

Actions (login required)

View Item