RANCANG BANGUN SISTEM WEARABLE UNTUK REHABILITASI TANGAN PASIEN PASCA-STROKE DENGAN METODE PID

ZULFIKAR ALI ALFARUQI, . (2026) RANCANG BANGUN SISTEM WEARABLE UNTUK REHABILITASI TANGAN PASIEN PASCA-STROKE DENGAN METODE PID. Sarjana thesis, UNIVERSITAS NEGERI JAKARTA.

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Abstract

Stroke merupakan penyebab disabilitas motorik terbesar secara global, namun aksesibilitas rehabilitasi tangan di Indonesia masih terbatas akibat rasio fisioterapis- pasien yang rendah dan biaya terapi manual yang tinggi. Sistem eksoskeleton tangan yang tersedia di literatur umumnya mahal dan bergantung pada komponen impor, sementara dokumentasi kuantitatif performa kontrol PID diskrit pada sistem tendon-driven berbasis spring skeleton berkomponen lokal berbiaya rendah belum tersedia. Penelitian ini merancang sarung tangan (wearable glove) rehabilitasi dengan lima kanal kendali PID independen (satu per jari) berbasis Arduino Mega 2560 Pro Mini, mekanisme spring skeleton sebagai elemen restorasi pasif untuk gerak ekstensi, dan benang pancing sebagai transmisi tendon, dengan total biaya purwarupa di bawah Rp 2 juta. Karakteristik dinamik plant motor-drum-pegas dimodelkan secara analitis, dan parameter Kp, Ki, Kd untuk kendali closed-loop berbasis umpan balik flex sensor dirancang melalui metode Root Locus (penempatan kutub dominan), kemudian divalidasi melalui simulasi numerik pada empat titik setpoint sudut fleksi (30–75°). Purwarupa fisik telah berhasil dirakit dan diuji secara mekanis serta elektris: kebutuhan torsi aktuator (≈ 0,842 kg·cm) terbukti berada jauh di bawah kapasitas maksimum servo MG90S (≈ 2,2 kg·cm), dengan konsumsi arus sistem yang terukur stabil (puncak ≈ 938 mA saat grip) menggunakan sensor arus INA219. Namun demikian, integrasi fisik flex sensor sebagai umpan balik posisi belum terpasang pada tahap ini, sehingga kendali gerak jari pada perangkat keras aktual masih beroperasi secara open-loop melalui sekuens otomatis grip-release-rest; performa kendali closed-loop (rise time, overshoot, settling time, dan steady-state error) baru tervalidasi melalui simulasi numerik dan belum diukur secara empiris pada purwarupa maupun diujikan pada subjek manusia. Kontribusi penelitian ini meliputi penurunan parameter Kp/Ki/Kd metode Root Locus untuk sistem tendon-driven berbasis spring skeleton yang belum tersedia di literatur, pembuktian kelayakan mekanis dan elektris purwarupa rehabilitasi tangan berbiaya rendah dari komponen lokal Indonesia (di bawah Rp 2 juta per unit), serta identifikasi celah implementasi (integrasi flex sensor, validasi closed-loop empiris, dan pengujian subjek manusia) sebagai dasar pengembangan penelitian lanjutan. Kata Kunci: rehabilitasi tangan, pasca-stroke, kontrol PID diskrit, root locus, spring skeleton, tendon-driven, wearable glove, Arduino, low-cost, purwarupa. ***** Stroke is the leading global cause of motor disability, yet access to hand rehabilitation in Indonesia remains limited due to a low physiotherapist-to-patient ratio and the high cost of manual therapy. Hand exoskeleton systems reported in the literature are generally expensive and rely on imported components, while quantitative performance documentation for discrete PID control in tendon-driven, spring- skeleton-based systems using low-cost local components remains unavailable. This study designs and develops a wearable hand rehabilitation glove featuring five independent PID control loops (one per finger) based on an Arduino Mega 2560 Pro Mini, a spring-skeleton mechanism as a passive extension actuator, and fishing line as the tendon transmission, at a total cost of under IDR 2 million. The system's dynamics were modeled as an FOPDT plant from open-loop step response tests, with flex sensor nonlinearity corrected via second-order polynomial calibration per finger. The Kp, Ki, and Kd parameters were determined using a combination of the Root Locus method and manual fine-tuning, implemented in discrete form at Ts = 20 ms with output clamping and anti-windup. The physical prototype was successfully assembled and tested mechanically and electrically: the required actuator torque (≈ 0.842 kg·cm) was confirmed to be well below the maximum capacity of the MG90S servo (≈ 2.2 kg·cm), and the system's current draw was measured as stable (peak ≈ 938 mA during grip) using an INA219 current sensor. However, physical integration of the flex sensor as a position feedback element has not yet been installed at this stage, so finger-motion control on the actual hardware still operates open-loop through an automated grip- release-rest sequence; closed-loop control performance (rise time, overshoot, settling time, and steady-state error) has so far only been validated through numerical simulation and has not yet been measured empirically on the prototype or tested on human subjects. The main contributions of this research include the derivation of Root Locus-based Kp/Ki/Kd parameters for a tendon-driven, spring-skeleton-based system not yet available in the literature, empirical evidence that the mechanical and electrical realization of a low-cost hand rehabilitation prototype is achievable using local Indonesian components (under IDR 2 million per unit), and the identification of implementation gaps (flex sensor integration, empirical closed-loop validation, and human-subject testing) as a foundation for future development. Keywords: hand rehabilitation, post-stroke, discrete PID control, root locus, spring skeleton, tendon-driven, wearable glove, Arduino, low-cost, prototype .

Item Type:	Thesis (Sarjana)
Additional Information:	1). Rafiuddin Syam, S.T., M.Eng., Ph.D. ; 2). Churnia Sari, S.T., M.T.
Subjects:	Ilmu Kedokteran > Terapi Teknologi dan Ilmu Terapan > Teknik Elektronika
Divisions:	FT > D IV Teknologi Rekayasa Otomasi
Depositing User:	Zulfikar Ali Alfaruqi .
Date Deposited:	06 Aug 2026 06:27
Last Modified:	06 Aug 2026 06:27
URI:	http://repository.unj.ac.id/id/eprint/68745

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