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Abstrak :
Patah tulang merupakan salah satu cidera yang dapat diakibatkan oleh berbagai macam hal, salah satunya adalah kecelakaan saat berkendara menggunakan sepeda motor. Patah tulang sendiri dapat mengganggu jalannya aktivitas sehari-hari yang dilakukan oleh manusia. Namun patah tulang sendiri dapat disembuhkan dengan melakukan operasi maupun melakukan Tindakan medis lainnya. Setelah melakukan operasi tentunya diperlukan masa rehabilitasi, dimana pasien tidak boleh terbentur benda dari luar maupun melakukan pergerakkan-pergerakkan yang berlebihan. Oleh karena itu selama masa rehabilitasi, pasien dapat menggunakan salah satu alat bantu yaitu exoskeleton, dimana exoskeleton ini dapat membantu pasien agar tidak terkena benturan dari luar secara langsung, dapat membatasi pergerakkan pasien, selain itu membuat tangan pasien menjadi lebih stabil. Exoskeleton sendiri merupakan alat yang terdiri atas beberapa bagian, yaitu: backboard, shoulder joint, upper arm, elbow joint, fore arm, wrist joint, dan juga palm. Exoskeleton sendiri terdapat 2 jenis, yaitu: exoskeleton pasif dan juga exoskeleton aktif. Dimana exoskeleton aktif terdapat sensor EMG (electromyography) sebagai input, kemudian microcontroller, motor dan juga system transmisi sebagai penggerak setiap joint, dan juga power supply sebagai sumber daya untuk penggerak motor dan juga microcontroller. ......Hand fracture is one of the injury caused by a lot of things, such as accident that happened while riding motorcycle. Fracture can disturb human daily activities. However, we can treat fracture with surgery or other medication process. After the surgery, patient will enter rehabilitation process. In rehabilitation process, the patient cannot make a lot of movement, and can’t be hit by other things on their hand. The patient could use one of the device such as exoskeleton. Exoskeleton can help the patient make their hand more sTabel and protect their hands from impact from outside. Exoskeleton consists of some parts, they are backboard, shoulder joint, upper arm, elbow joint, forearm, wrist joint, and palm. There are two types of exoskeleton, the first one is passive exoskeleton, and the second one is active exoskeleton. Active exoskeleton has EMG sensor that act as input for the microcontroller, microcontroller, motor, and power supply to supply power for the motors, and microcontroller.

Abstrak :
ABSTRAK
Eksoskeleton secara umum adalah sebuah struktur yang secara anatomis dirancang untuk mengakomodasi gerakan fisik pemakainya dan memberikan kekuatan tambahan. Salah satu tantangan dalam perancangan eksoskeleton adalah dalam menentukan metode kendali yang akan digunakan. Terdapat berbagai macam metode untuk mengendalikan eksoskeleton dan pada penelitian kali ini pengendalian dengan menggunakan sinyal EMG diujicobakan. Tujuan dari penelitian ini adalah untuk mencapai pengendalian optimum menggunakan sinyal EMG. Sinyal EMG adalah tegangan yang muncul ketika otot berkontraksi sehingga gerakan pengguna akan berkorelasi langsung dengan besar RMS sinyal EMG otot tersebut. Nilai RMS dari otot bicep dan tricep digunakan untuk menentukan arah gerak dan kecepatan rotasi motor DC yang menggerakkan eksoskeleton tangan kanan 1 DOF. Perhitungan nilai RMS dilakukan dengan memvariasikan panjang datanya (array length) yang secara teori akan mempengaruhi akurasinya. Selisih diantara kedua nilai RMS tersebut dihitung dan diinterpretasikan sebagai keinginan pengguna untuk melakukan gerakan fleksi atau ekstensi dan akan mengatur arah putaran motor DC. Nilai absolut dari selisih RMS tersebut yang kemudian dikalikan dengan konstanta (gain) digunakan untuk mengatur siklus kerja (duty cycle) sebuah sinyal PWM yang akan mengatur kecepatan putaran motor DC. Pengendalian sebuah sistem dikatakan baik jika settling time-nya kecil. Untuk mendapatkan settling time yang kecil, array length dan gain divariasikan. Pengujian dilakukan dalam dua tahap, yaitu pengujian statis dan dinamis. Hasil pengujian menunjukkan kecenderungan dimana settling time mengecil ketika array length makin pendek dan gain diperbesar. Hal tersebut menunjukkan bahwa pengendalian optimum dapat dicapai dengan memilih nilai array length dan gain yang tepat.

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ABSTRACT
Exoskeleton in general is a structure that is anatomically designed to be able to accommodate the physical movement of its user and provide additional strength. One of the biggest challenge in designing an exoskeleton is to determine the method of control that will be implemented. There are various control methods that can be used and the use of EMG signal to control a 1 DOF right arm exoskeleton is evaluated in this research. This research aims to achieve optimum control using EMG signal. EMG signal is a variation of voltage that occurs when a muscle contracts hence its strong correlation with the user?s intention of movement. The RMS values of each EMG signal that originates from bicep and tricep muscle are calculated and processed to determine the direction and speed of rotation of a DC motor that actuates the exoskeleton. The RMS calculation is conducted at various array length that will theoretically affect its accuracy. The difference between those two RMS values is then calculated and interpreted as the intention of flexion or extension movement that will control the DC motor rotation direction. The absolute value of the RMS difference multiplied with a gain factor is used to regulate the duty cycle of a PWM signal that is used to control the rotational speed of the DC motor. A good system control is characterized by its settling time, the smaller the better. To achieve the smallest settling time, array length and gain factor is varied. The test was conducted in two stages, static and dynamic test. The test result shows a trend where the settling time decreases when array length is shortened and gain is increased. It shows that optimum control can be achieved by selecting the right array length and gain.

Abstrak :
This book reports on the development of different control tools for Brain-machine interface-based assistance and rehabilitation. Brain activity is analyzed with the purpose of classify mental tasks and detecting movement intentions in patients with impaired motility. Event-Related Desynchronization (ERD) and Event-Related Synchronization (ERS) are detected. Throughout this book, different control systems are presented and validated. This thesis, examined at the Miguel Hernández University of Elche, Spain, in 2016, received the award for best thesis in bioengineering from the Bioengineering group of the Spanish Committee of Automatic Control (CEA) in 2017.

Abstrak :
The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 4th International Symposium on Wearable Robotics, WeRob2018, held October 16-20, 2018, in Pisa, Italy, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2018 with the International Conference on Neurorehabilitation, INCR2018. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.