Desain Kontrol Sinyal sEMG Dengan Umpan Balik Sensorik Untuk Tangan Prostetik

Nisa, Izzah Awwalin Khoirun (2023) Desain Kontrol Sinyal sEMG Dengan Umpan Balik Sensorik Untuk Tangan Prostetik. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Prostesis merupakan sebuah alat kesehatan yang didesain untuk menggantikan bagian tubuh tertentu untuk membantu pasien mendapatkan kembali fungsi tertentu setelah bagian tubuhnya cidera berat karena kecelakaan atau terkena penyakit. Salah satu bagian tubuh yang dapat dibuat prosthesis adalah tangan. Masalah dengan sebagaian besar perangkat prostetik adalah kurangnya segala bentuk umpan balik sensorik. Sehingga kendala yang dihadapi oleh pengguna tangan prostesis adalah kesulitan melakukan penggenggaman yang sesuai dengan benda yang dipegang dengan kekuatan genggaman yang sesuai pula. Maka dari itu, penelitian ini bertujuan merancang tangan prostetik menggunakan kontrol sinyal surface electromyograph (sEMG). Sistem kontrol tersebut terdiri dari beberapa proses yaitu akuisisi dan pengolahan sinyal sEMG, digitalisasi sinyal, dan klasifikasi sinyal EMG dengan adaptive tresholding dan integrasi dengan pergerakan aktuator pada prostesis. Setelah aktuator bergerak terdapat feedback dari force sensor berupa perubahan tegangan FSR. Dari feedback tersebut didapatkan error yang akan menjadi input dari controller PID yang kemudian menghasilkan output PWM yang menggerakkan aktuator sesuai dengan penggenggaman yang dilakukan. Klasifikasi sinyal tersebut dibagi menjadi open hand, close hand, dengan akurasi 86% dan mendapatkan hasil memegang dengan kekuatan genggaman optimal force sensitivity 0.2N – 20N atau setara dengan 200 gram – 2 Kg, dibuktikan pengujian dengan variasi variabel beban dan ukuran benda. Dimana diperoleh hasil kekuatan genggaman maksimal pada tangan prosthetik desain V4 0,523 KgF, yaitu ketika menggenggam benda box kecil dan hasil kekuatan genggaman optimal pada tangan prosthetik desain V5 0.513 KgF , yaitu ketika menggenggam benda botol penuh.
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Amputation can occur as a result of an accident or a procedure to cut a certain body part to treat a condition or disease. A prosthesis is a medical device designed to replace certain body parts to help patients regain certain functions after the body part is seriously injured due to an accident or disease. An example of body parts that can be made into prostheses is the hand. People with physical disabilities as a result of this hand amputation will have deficiencies that affect their daily lives. The development of prosthesis technology has grown rapidly starting from mechanical prostheses to being equipped with electronic devices. The problem with most prosthetic devices is the lack of any form of sensory feedback. This will cause problems faced by prosthesis hand users in the form of difficulty in gripping the object with the appropriate grip strength. Therefore, this study aims to design a prosthetic hand using a surface electromyography (sEMG) signal control. The control system consists of several processes, Including sEMG, signal acquisition, signal processing, signal digitization, and EMG signal classification with adaptive thresholding and integration with actuator movement in the prosthesis. After the actuator moves, there is feedback from the force sensor in the form of a change in the FSR voltage. From this feedback, an error is obtained which will be the input of the PID controller which then produces a PWM output that drives the actuator according to the desired grip. The signal classification is divided into open hand, close hand, with an accuracy of 86% and results in holding with optimal grip strength, force sensitivity of 0.2N – 20N or the equivalent of 200 grams – 2 Kg, as evidenced by testing with variable variations in load and object size. Where the maximum grip strength results were obtained on the prosthetic hand design V4 0,523 KgF, namely when holding a small box object and the optimal grip strength results on the prosthetic hand design V5 0.513 KgF, namely when holding a full bottle object.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Amputasi Tangan, Prosthesis, sEMG, feedback force sensor, kontrol PID, and Amputation, Prosthesis, sEMG, feedback force sensor, PID control
Subjects:	R Medicine > RD Surgery > RD130 Artificial organs; Prosthesis T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.9 Signal processing. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Biomedical Engineering > 11410-(S1) Undergraduate Thesis
Depositing User:	Izzah Awwalin Khoirun Nisa
Date Deposited:	12 Feb 2023 12:33
Last Modified:	12 Feb 2023 12:33
URI:	http://repository.its.ac.id/id/eprint/96886

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