Rancang Bangun Wearable Functional Electrical Stimulation untuk Tungkai atas Bahu dan Siku dengan Fuzzy-PID Controller

Hayadi, Sherelle Clairine (2022) Rancang Bangun Wearable Functional Electrical Stimulation untuk Tungkai atas Bahu dan Siku dengan Fuzzy-PID Controller. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Stroke merupakan penyebab kematian tertinggi kedua dan penyebab kelumpuhan tertinggi ketiga di seluruh dunia. Untuk mengembalikan fungsi tubuh akibat hemiplegia, maka diperlukan rehabilitasi. Functional Electrical Stimulation (FES) menggunakan surface-stimulation electrodes memberikan stimulasi listrik pada motor neuron pada otot mengakibatkan kontraksi otot tersebut. Pada penelitian ini mengembangkan sebuah sistem wearable FES untuk tungkai atas tepatnya untuk gerak fleksi-ekstensi siku dan fleksi-ekstensi bahu. Stimulator yang diusulkan berjenis monophasic dan biphasic waveform menggunakan boost converter, dual output boost converter, pulse generator, dan supply-stepping switch driver. Metode kontrol yang akan diterapkan adalah metode Fuzzy-PID, dimana kontroler fuzzy akan melakukan tuning pada parameter KP pada PID, yang selanjutnya akan menentukan pulsa stimulus. Divais wearable monophasic FES memiliki ukuran 21,5cm x 10cm x 6,5cm dengan berat 569 gram dan ketahanan baterai 2x45 menit. Boost converter monophasic mampu memompa hingga 148V dan pulse generator mampu menghasilkan pulsa 20Hz 200us. Pengujian pada subjek mampu menghasilkan gerakan optimal dengan tegangan tertentu. Parameter PID untuk gerak fleksi siku ialah KP 1,2, KI 0,3125, dan KD 1,25. Sedangkan untuk ekstensi siku adalah KP 1,2, KI 1, dan KD 7. Penambahan kontroler fuzzy dapat menekan eror sekitar 2 derajat RMSE. Boost converter biphasic memiliki frekuensi optimal 10-12kHz dan duty cycle 30-40% untuk menghasilkan tegangan seimbang pada dua polaritas namun amplitudonya masih belum ideal untuk FES. Half bridge driver IR2104 mampu melewatkan pulsa positif dan negatif secara bergantian sehingga membangkitkan sinyal biphasic. ==================================================================================================== Stroke is the second leading cause of death and the third leading cause of disability worldwide. To restore body function due to hemiplegia, rehabilitation is needed. Functional Electrical Stimulation (FES) uses surface-stimulation electrodes to provide electrical stimulation to motor neurons in muscles, resulting in muscle contraction. In this study, we developed a wearable FES system for the upper limbs specifically for elbow flexion-extension and shoulder flexion�extension movements. The proposed stimulator is monophasic and biphasic waveform using a boost converter, dual output boost converter, pulse generator, and a supply-stepping switch driver. The control method that will be applied is the Fuzzy-PID method, where the fuzzy controller will tune the KP parameter on the PID, which will then determine the stimulus pulse. The FES monophasic wearable device measures 21.5cm x 10cm x 6.5cm with a weight of 569 grams and a battery life of 2x45 minutes. The monophasic boost converter is capable of pumping up to 148V and the pulse generator is capable of producing 20Hz 200us pulses. Tests on the subject are able to produce optimal movement with a certain tension. PID parameters for elbow flexion are KP 1.2, KI 0.3125, and KD 1.25. Meanwhile, the elbow extensions are KP 1.2, KI 1, and KD 7. The addition of a fuzzy controller can reduce the error of about 2 degrees RMSE. The biphasic boost converter has an optimal frequency of 10-12kHz and a duty cycle of 30-40% to produce a balanced voltage on two polarities but the amplitude is still not ideal for FES. The IR2104 half bridge driver is able to pass positive and negative pulses alternately so as to generate a biphasic signal.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Biphasic waveform, Functional Electrical Stimulation (FES), Fuzzy-PID controller, hemiplegia, stroke
Subjects: R Medicine > RM Therapeutics. Pharmacology > RM871 Electric stimulation.
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
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: Sherelle Clairine Hayadi
Date Deposited: 08 Feb 2022 03:48
Last Modified: 08 Feb 2022 03:48
URI: https://repository.its.ac.id/id/eprint/92995

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