Rancang Bangun Sistem Restorasi Gerak Sendi Siku Dan Pergelangan Tangan Menggunakan Functional Electrical Stimulation Erwin Setiawan Widjaja

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 ================================================================================================= 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: https://repository.its.ac.id/id/eprint/74891

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