Pengembangan Bioelectrical Impedance Sebagai Control Commands Pengaturan Kecepatan Gerak Kursi Roda Dengan metoda PID Controller
Abstract: In the present
study, bioimpedance signals of human body was utilized to control speed of a
wheelchair movement. A bioimpedance is electrically passive part contained the
body tissues. The research is one of alternative solutions for patients with
paralysis of the upper and lower limb. Firstly, design of system of the
research consisted of bioimpedance measuring instruments and a mechanical
design of the wheelchair. Bioimpedance measurement was performed by injecting a
sinusoidal current source of 0.5 mArms with a frequency of 50 kHz to muscle
tissue (shoulder) to obtain the output voltage in the range of 0-5 Vdc. With
impulse and manual thresholding methods, the voltage signal was classified into
several controls command to adjust the speed and direction of the wheelchair
control based on PID Controller. The experimental result of the research was realization
of bioimpedance signal that used as a reference to control the direction and
speed of the wheelchair with a success rate of 86.7 %. A wheelchair velocity
was classified into three types of motion, namely slow, medium and fast. Slow
speed has a rated speed of 30 Cm/s, medium speed value speed of 40 Cm/s and
fast speed value of 50 Cm/s. The wheelchair can also turn to the left and the
right in accordance with the wishes of wheelchair user beside to moving
forward.
Penulis: Juli Sardi, Ali
Basrah Pulungan
Kode Jurnal: jptlisetrodd140116
