Analisis Sistem Kendali Sendi Exoskeleton Robotik untuk Pola Pergerakan Manusia Normal
Abstract
Salah satu alat yang dapat digunakan untuk membantu pergerakan tubuh manusia adalah dengan menggunakan sendi exoskeleton. Tujuan dari penelitian ini adalah untuk mengaplikasikan Fuzzy Logic Controller (FLC) dengan menggunakan C# dalam pengaturan besar torsi yang telah ditentukan dan arah putaran motor ke driver motor, serta mengubah sinyal input berupa sudut fase berjalan menggunakan metode Fuzzy Logic Clasification. Berdasarkan hasil penelitian yang telah dilakukan diperoleh kesimpulan bahwa dengan mengontrol arus yang diberikan sebesar 2215 mA menghasilkan variasi dari tiap fase gaya berjalan sehingga diketahui pola pergerakan manusia. Berdasarkan panjang lengan beban sebesar 40 cm didapatkan gaya sebesar 5,53 N.
Downloads
References
Zheng, E. et al.2017‘Gait phase estimation based on noncontact capacitive sensing and adaptive oscillators’, IEEE Transactions on Biomedical Engineering, 64(10) ,2419–2430.
Sado F, Y. H. 2018 'Exoskeleton robot control for synchronous walking assistance in repetitive manual handling works based on dual unscented Kalman filter'. Department of Mechanical Engineering, Faculity of Engineering, University of Malaysia, Kuala Lumpur, Malaysia, 13(7) 1-36.
Gopura, R. A. 2009 'Development and Control of Upper-Limb Exoskeleton Robots'. A dissertation submitted in partial fulfillment of the requirements for the Doctor of Philosophy degree in Robotics and Intelligent Systems, Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Japan(September), 3-79.
Aguirre-Ollinger, G.,Nagarajan, U., and Goswami, A. 2016‘An admittance shaping controller for exoskeleton assistance of the lower extremities’, Autonomous Robots, 40(4), 701–728.
Yulianta, A. D., Hadi, S. P. and Suharyanto 2015‘Pengendalian Kecepatan Motor Brushless dc Menggunakan Metode Logika Fuzzy’, Jurnal Sains, Teknologi dan Industri, 8(1), 1–9.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License (Attribution-ShareAlike 4.0 International (CC BY-SA 4.0) ) that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
Open Access Policy
This journal provides immediate open access to its content on the principle that making research freely available to the public supports a greater global exchange of knowledge.
Its free availability on the public internet, permitting any users to read, download, copy, distribute, print, search, or link to the full texts of these articles, crawl them for indexing, pass them as data to software, or use them for any other lawful purpose, without financial, legal, or technical barriers other than those inseparable from gaining access to the internet itself.
