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All Journal International Journal of Electrical and Computer Engineering International Journal of Power Electronics and Drive Systems (IJPEDS) Techno.Com: Jurnal Teknologi Informasi Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) ELINVO (Electronics, Informatics, and Vocational Education) JURNAL NASIONAL TEKNIK ELEKTRO Panrita Abdi - Jurnal Pengabdian pada Masyarakat Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control JMM (Jurnal Masyarakat Mandiri) Journal Technology and Implementation Bussines RESISTOR (Elektronika Kendali Telekomunikasi Tenaga Listrik Komputer) bit-Tech Indonesian Journal of Electrical Engineering and Computer Science Jurnal Teknologi dan Terapan Bisnis Journal of Computer, Electronic, and Telecommunication (COMPLETE) Jurnal Algoritma JEEE- Journal of Electrical And Electronics Engineering ABDINE Jurnal Pengabdian Masyarakat Jurnal Teknologi dan Terapan Bisnis eProceedings of Engineering Telkatika: Jurnal Telekomunikasi Elektro Komputasi & Informatika BEGAWE: Jurnal Pengabdian Masyarakat
Adiputra, Dimas
Institut Teknologi Telkom Surabaya
Aerospace Engineering Arts Humanities Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Education Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Social Sciences Other

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Journal : International Journal of Electrical and Computer Engineering

 1 
Field oriented control driver development based on BTS7960 for physiotherapy robot implementation Halisyah, Andi Nur; Adiputra, Dimas; Al Farouq, Ardiansyah
International Journal of Electrical and Computer Engineering (IJECE) Vol 14, No 2: April 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v14i2.pp1486-1495

Abstract

In conjunction with sustainable development goal 3 (SDG 3), it is important to develop a national electrical component for physiotherapy robot development. This study aimed to develop an open-loop field-oriented control (FOC) driver utilizing BTS7960. The driver utilized three BTS7960s that produce sinewave with variable angular frequency (ω). The research then compared the open-loop FOC driver with electronics speed controller (ESC) performance to drive a brushless DC (BLDC) motor with an initial rotation per minute (RPM) of 400, 500, and 600. The main observation was RPM reduction when the BLDC motor was subjected to loads of 20, 35, 50, 65, and 80 gr. The result showed that the open-loop FOC driver performed better, especially on an 80 gr load. For an initial RPM of 600, the RPM reduced to 100 when controlled with an open-loop FOC driver, but lesser when controlled using ESC. The open-loop FOC driver produces higher torque on the BLDC motor so it could rotate with less reduction compared to ESC, which is evident. The open-loop FOC driver can be easily developed using BTS7960 with a settling time of 4 seconds. However future studies should still consider close-loop FOC drivers to achieve higher torque performance and faster transient response for physiotherapy robot applications.
Enhanced ankle physiotherapy robot with electromyography - triggered ankle velocity control Adiputra, Dimas; Nismara, Radithya Anjar; Lubis, Muhammad Rafli Ramadhan; Rizkianingtyas, Nur Aliffah; Satrio, Kensora Bintang Panji; Arif, Rangga Roospratama; Salsabila, Annisa
International Journal of Electrical and Computer Engineering (IJECE) Vol 15, No 6: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v15i6.pp5314-5326

Abstract

Previous ankle physiotherapy robots, called picobot rely on predefined trajectories continuous passive movement without considering patient intent, limiting the encouragement of user-intent motion. This study then integrates electromyography (EMG) signals as triggers into picobot with an ankle velocity-based control system. The upgraded robot activates movement in specific gait phases based on muscle activity, synchronizing therapy with the patient’s intent. Functionality test on 7 young male healthy subjects investigates leg muscles, such as Tibialis Anterior, Soleus, and Gastrocnemius muscles for the most significantly contribute to ankle movements. Then, the muscle is tested to trigger picobot movements. Functionality tests revealed the Tibialis muscle significantly contributes to gait phases 2, the Soleus is prominent in phases 3 and 4, and gastrocnemius is active on phase 1. The robot successfully performs plantarflexion when EMG signals exceed a 1.58 V threshold, reaching a target position of -0.11 rad at a constant velocity of -0.62 rad/s. These findings establish a foundation for future trials since patient testing has not yet been conducted. By promoting active participation, this innovation has the potential to enhance rehabilitation outcomes. Incorporating user-intent triggers may accelerate recovery and improve healthcare accessibility in Indonesia, offering a significant advancement in physiotherapy technologies.
Co-Authors Abduh Sayid Albana Abdulloh Hamid Nushfi Aditya Yudhistira Afandi, Mas Aly Ahmad Habibi Aldo Juan Widodo Aliffah Rizkianingtyas, Nur Aliffah Rizkiningtyas, Nur Andi Nur Halisyah Anifatul Faricha Annisa'ul Baroroh Ardiansyah Al Farouq Arif, Rangga R. Arif, Rangga Roospratama Aris Kusumawati Arthur Silitonga Bagas Wahyu Prakoso Christian Jose Anto Kurniawan Christian Jose Anto Kurniawan Daffaldi, Rafly Dimas Bagas Wicaksono Dony Setiawan, Ananda Eka Sari Oktarina Era Anzha Naelil Munna Faiz Fanani, Ahmad Fatahillah, Aditya M. Fauzan Rasyid Firmansyah, Ryan Gilbert Wednestwo Samuel Gilbert Wednestwo Samuel Halisyah, Andi Nur Hari Sulistiyo Budi Waspada Hazel Dimas Prayogi, Mohammad Helmy Widyantara Humaidi, Reza Isa Hafidz Khodijah Amiroh Lora Khaula Amifia Lubis, Muhammad Rafli Ramadhan Moch. Bagus Indrastata Moch. Fauzan Rasyid Moch. Iskandar Riansyah Mohammad Yanuar Hariyawan Montolalu, Billy Nadia Dinda Pratama Putri Nathalia, Vita Ayu Nilla Rachmaningrum Nisa Isrofi Nismara, Radithya Anjar Nursyahjaya Ramadaniputra Pangestu Widodo, Pangestu Putra, Aldhitiansyah Putranto, Rifki Dwi Putranto, Rifky Dwi Ramadaniputra, Nursyahjaya Reza Humaidi Rizkianingtyas, Nur Aliffah Robin Addwiyansyah Alfaro Samrat SALSABILA, ANNISA Satria Fajar Rachmadianto Satrio, Kensora Bintang Panji Selamet, Sheila Shelvia Sevia Indah Purnama Shinvalraus Sains Raihan Kanzu Syakira Andriyani Syakira Andriyani Teks, Johnson G. A. Titus Kristanto Tri Rasmana, Susijanto Trisnawati, Azzahra Rizki Sulardi tsani, naufal tsani firjatulloh Ubaidillah Ulfa, Dinda Karisma Ully Asfari Vortis, Cindy G. Wahyu Andy Prastyabudi Yosefan Alfeus Bayuaji