Widjaja, Erwin Setiawan (2016) Rancang Bangun Sistem Restorasi Gerak Sendi Siku Dan Pergelangan Tangan Menggunakan Functional Electrical Stimulation Erwin Setiawan Widjaja. Undergraduate thesis, Institut Teknologi Sepuluh Nopember Surabaya.
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Abstract
Persendian anggota gerak atau fungsi motorik seorang pasien
pasca stroke dan spinal cord injury (SCI) melalui penelitian yang
dilakukan menggunakan EMG dan pengukuran secara mekanis,
menunjukan bahwa pergerakan persendian tersebut lebih kaku di
bandingkan dengan persendian anggota gerak orang normal. Hal ini di
akibatkan karena penyakit stroke yang menyerang otak seseorang,
sehingga pergerakan persendian akan menjadi terbatas dalam jangka
waktu tertentu. Functional Electrical Stimulation (FES) merupakan salah
satu cara rehabilitasi pergerakan persendian tersebut. Electrical
stimulator menghasilkan output berupa gelombang kotak dengan
karakteristik lebar pulsa 200μS, frekuensi 20Hz dan amplitudo maksimal
100 V. Output hasil stimulus tersebut akan di tempelkan pada bagian
tertentu dari otot tangan, yang akan menghasilkan pergerakan memutar
atau menekuk ke arah tertentu pada pergelangan tangan atau sendi siku.
Selanjutnya untuk mencapai pergerakan persendian yang stabil, maka
digunakan kontroler PID closed loop. Berdasarkan hasil pengujian, nilai
konstanta PID Kp, Ki dan Kd yang di sesuaikan untuk pergerakan sendi
siku dan pergelangan tangan terhadap setiap subyek berhasil
menghasilkan sebuah sistem kontrol tegangan stimulator dan nilai
konstanta PID Kp, Ki dan Kd secara berurutan untuk radial 1.102, 0.158,
4.431, dorsi 1.705, 0.189, 8.1, ulnar 1.542, 0.3214, 5.785, palmar 1.787,
0.119, 7.15 dan elbow 1.25, 0.75, 3 dapat memberikan respon pergerakan
yang baik terhadap 3 subyek
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The joint of movement system or motoric system of human post-stroke
and spinal cord injury (SCI) through research conducted using
electromyography and mechanical measurements, showed that movement
of joints is more rigid in comparison with the normal human limb joints.
It is caused by stroke that attacks human brain, so the movement of the
joints controlled by brain will be limited within a certain of time. There is
one rehabilition method using functional electrical stimulation (FES).
This device will stimulate electric to muscle through skin, so the muscle
will contract and cause a movement to joint. Electrical stimulator
designed to produce an square wave output to drive the muscle, which the
signal has 200μS pulse width, 20Hz and 100V as maximum voltage.
Furthermore, to achieve a stable movement joints in certain part, closed
loop PID control feedback is used. Error value of PID control movement
is acquired from accelerometer and gyroscope sensor on the palm of the
hand, forearm and upper arm. Based on test result, the alteration value
of Kp Ki and Kd for elbow and wrist movement each subject successfully
generate a voltage to control the system stimulator and Kp Ki and Kd
value respectively radial 1.102, 0.158, 4.431, dorsi 1.705, 0.189, 8.1,
ulnar 1.542, 0.3214, 5.785, palmar 1.787, 0.119, 7.15 and elbow 1.25,
0.75, 3 give a good respon for 3 subyek
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 615.845 Wid r |
| Uncontrolled Keywords: | functional electrical stimulator, stroke, spinal cord injury, kontroler PID |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3226 Transients (Electricity). Electric power systems. Harmonics (Electric waves). |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | EKO BUDI RAHARJO |
| Date Deposited: | 13 Feb 2020 07:02 |
| Last Modified: | 13 Feb 2020 07:02 |
| URI: | http://repository.its.ac.id/id/eprint/74891 |
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