Studi Eksperimental MPC-FES Kontrol Untuk Pergerakan Wrist Joint

Firdiyana, Nurul Annisa (2026) Studi Eksperimental MPC-FES Kontrol Untuk Pergerakan Wrist Joint. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penyakit stroke merupakan kondisi yang terjadi ketika pasokan darah ke otak terganggu akibat penyumbatan atau pecahnya pembuluh darah sehingga menyebabkan penurunan kemampuan fungsi motorik. Salah satu metode rehabilitasi yang dapat digunakan untuk membantu mengembalikan fungsi motorik adalah Functional Electrical Stimulation (FES). Pada penelitian ini dikembangkan perangkat wearable FES berbasis mikrokontroler STM32F103C8T6 yang dilengkapi sensor Inertial Measurement Unit (IMU) berupa accelerometer dan gyroscope untuk mengukur sudut gerak sendi pergelangan tangan. Data sensor diproses menggunakan Kalman Filter sebagai umpan balik (feedback) pada kontroler Model Predictive Control (MPC) untuk mengatur duty cycle PWM sehingga gerakan palmar flexion dapat mengikuti target trajectory. Perangkat yang dikembangkan memiliki dimensi 21,5 cm × 10 cm × 6,5 cm dan terdiri atas rangkaian boost converter, pulse generator, dan driver channel. Hasil pengujian menunjukkan bahwa boost converter mampu menghasilkan tegangan keluaran sebesar 150–190 V, sedangkan pulse generator menghasilkan pulsa stimulasi dengan frekuensi 20 Hz dan lebar pulsa 210 μs. Pada pengujian open-loop, variasi duty cycle PWM sebesar 10%–35% menghasilkan tegangan stimulasi 15–43,2 V yang diikuti dengan peningkatan sudut palmar flexion pergelangan tangan. Selanjutnya, pada pengujian closed-loop, performa kontroler MPC dievaluasi menggunakan Mean Absolute Error (MAE) dan diperoleh nilai sebesar 10,07°, 10,29°, dan 10,41° pada tiga subjek dengan rata-rata 10,26°. Hasil tersebut menunjukkan bahwa kontroler MPC mampu melakukan tracking terhadap target trajectory secara konsisten sehingga sistem MPC-FES berpotensi diterapkan sebagai perangkat rehabilitasi fungsi motorik pergelangan tangan pada pasien pascastroke.
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Stroke is a condition caused by disrupted blood supply to the brain due to either blockage or rupture of blood vessels, resulting in impaired motor function. One rehabilitation method to restore motor function is Functional Electrical Stimulation (FES). This study developed a wearable FES device based on the STM32F103C8T6 microcontroller equipped with an Inertial Measurement Unit (IMU) consisting of an accelerometer and a gyroscope to measure wrist joint angles. Sensor data were processed using a Kalman Filter to provide feedback for a Model Predictive Control (MPC) system, which regulated the PWM duty cycle to enable palmar flexion movement to follow the desired target trajectory. The wearable device, measuring 21.5 cm × 10 cm × 6.5 cm, integrates a boost converter, pulse generator, and driver channel. Experimental results showed that the boost converter generated an output voltage of 150–190 V, while the pulse generator produced stimulation pulses with a frequency of 20 Hz and a pulse width of 210 μs. In the open-loop test, PWM duty cycles ranging from 10% to 35% generated stimulation voltages between 15 V and 43.2 V, resulting in increased palmar flexion angles. In the closed-loop test, the performance of the MPC controller was evaluated using the Mean Absolute Error (MAE), yielding values of 10.07°, 10.29°, and 10.41° for the three subjects, with an average MAE of 10.26°. These results demonstrate that the proposed MPC-based FES system is capable of consistently tracking the target trajectory and has the potential to be applied as a rehabilitation device to improve wrist motor function in post-stroke patients.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Functional Electrical Stimulation (FES), Model Predictive Control (MPC), Rehabilitasi, Stroke, wrist joint.==================================================== Functional Electrical Stimulation (FES), Model Predictive Control (MPC), Rehabilitation, Stroke, wrist joint
Subjects:	R Medicine > RM Therapeutics. Pharmacology > RM950 Rehabilitation technology.
Divisions:	Faculty of Industrial Technology > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Nurul Annisa Firdiyana
Date Deposited:	04 Aug 2026 06:36
Last Modified:	04 Aug 2026 06:37
URI:	http://repository.its.ac.id/id/eprint/143184

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