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All Journal ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Prosiding Seminar Nasional Teknoka TESLA: Jurnal Teknik Elektro eProceedings of Engineering Community Service Seminar and Community Engagement (COSECANT) Indonesian Journal of Electronics, Electromedical Engineering, and Medical Informatics
Ramdhan Nugraha
Telkom Univereity
Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Electrical & Electronics Engineering Engineering Health Professions Industrial & Manufacturing Engineering Materials Science & Nanotechnology Other

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Journal : eProceedings of Engineering

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Kendali Pergerakan Lengan Buatan Untuk Area Lengan Bawah Menggunakan Sinyal Emg Ilham Rabbani Des Chandra Aziz; Achmad Rizal; Ramdhan Nugraha
eProceedings of Engineering Vol 7, No 1 (2020): April 2020
Publisher : eProceedings of Engineering

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Abstract The human hand is one of the most frequently used parts of the body's anatomy. For some jobs, hands are valuable assets. The good and bad performance of human hands is heavily influenced by the good control and coordination of thenerves and muscles. Unfortunately, not all humans are blessed with healthy hands. Various things ranging from diseases such as strokes, paralysis, to the results of amputations due to disease also cause human hands to lose their main function or even totally unusable. This research aims to make an artificial arm that can be controlled based on EMG signals for people with disabilities. EMG signal readings are done by attaching electrodesto specific points of the pronatorteres muscle in the forearm area. The results of the obtained muscle activity will be captured in the form of an EMG signal to then be processed until it reaches a certain reading frequency range for the captured signal. After reading, the signals will then extract characteristics that are used as parameters to conclude the movement obtained using the K Nearest Neighbor (KNN) algorithm in MATLAB and then continued by serial communication with the microcontroller to move the prosthetic arm. Through this research, the writer obtained 76.7% accuracy on the value of K = 3 based on the results of KNN training with Classification Learner in MATLAB. However, through predictions with the new test data the writer could only get 50% accuracy. This can be caused by various things such as the hidden muscle location, the area of muscle detection, and the measurement for Euclidian Distance on KNN in MATLAB which also carried out evenly against fellow training data.Keywords : nervous system, signal, EMG, prosthetic arm, serial communication, disabilities, KNN, Euclidian Distance.
Perancangan Lengan Robot Dengan 4 Derajat Kebebasan Untuk Sistem Kendali Berbasis Sensor Kinect Jidan Sandika Hidayat; Achmad Rizal; Ramdhan Nugraha
eProceedings of Engineering Vol 8, No 2 (2021): April 2021
Publisher : eProceedings of Engineering

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Abstrak Lengan robot terdiri dari sistem mekanik dan sistem kendali lengan robot. Sistem mekanik berfungsi sebagai wadah sistem penggerak pada lengan robot. Istilah lain sistem penggerak disebut dengan derajat kebebasan atau Degree Of Freedom (DOF) atau sering diartikan dengan joint. Lalu pada bagian sistem kendali lengan robot salah satu nya dapat menggunakan metode pengolahan citra menggunakan sensor Kinect. Sensor Kinect adalah teknologi perangkat lunak yang dapat mendeteksi sendi tubuh manusia dan melacak pergerakan nya. Pada sistem kendali lengan robot menggunakan sensor Kinect, perintah untuk menggerakkan lengan robot menjadi lebih mudah, cepat, dan tidak banyak komponen yang digunakan. Pada tugas akhir ini fokus di bagian sistem mekanik dan penggerak lengan robot, untuk sistem kendali berbasis sensor Kinect. Lengan robot dirancang menggunakan microcontroller Arduino Mega 2560 dan aktuator berupa empat motor servo yang dipasang pada joint base, shoulder, elbow, dan gripper. Hasil pada tugas akhir ini didapat pada keempat joint lengan robot base, shoulder, elbow, dan gripper masing-masing memiliki error akurasi sudut 33.6°, 4.8°, 4.3°, dan 0°. Lengan robot dapat bergerak mengikuti gerakan lengan manusia secara real time dengan memakan waktu rata-rata sebesar 402.37 milidetik pada delapan gerakan lengan yang telah diperagakan. Kata Kunci: lengan robot, 4 derajat kebebasan, sistem kendali berbasis sensor Kinect, Kinect Abstract The robot arm consists of a mechanical system and a robot arm control system. The mechanical system functions as a container for the motion system in the robot arm. Another term for a system of motion is called the Degree Of Freedom (DOF) or often interpreted as a joint. Then in the robot arm control system, one of which can use the image processing method using the Kinect sensor. Kinect sensor is a software technology that can detect the joints of the human body and track their movements. In a robot arm control system using a Kinect sensor, the command to move the robot arm becomes easier, faster, and uses less components. In this final project, the focus is on the mechanical system and the movement of the robot arm, for the Kinect sensor-based control system. The robot arm is designed using an Arduino Mega 2560 microcontroller and an actuator in the form of four servo motors mounted on the joint base, shoulder, elbow, and gripper. The results in this final project are obtained that the four joint robot arms base, shoulder, elbow, and gripper each have angle accuracy errors of 33.6°, 4.8°, 4.3°, and 0°. The robotic arm can move to follow the human arm movement in real time by taking an average of 402.37 milliseconds on the eight arm movements that have been demonstrated. Keywords: robot arm, 4 degrees of freedom, Kinect sensor-based control system, Kinect
Co-Authors Achmad Rizal Adelia Pramita Dewi Aditya Eka Putra Afdalul Azmi Agung Surya Wibowo Ali Akhmad Ghifari Allbowaghis Di-Gandra Kheirisko Amelia Emara Ananda Risya Triani Andria Sufy Angga Rusdinar Anugrah Ikhsani Yusuf Aradea Putra Pangestu Ardhan Dwi Meirika Surachman Ardhan Dwi Meitrika Surachman Arief Yulian Prabowo Azhar Kurniana Azmi Rasyid Bagus Ferian Chandra Bayu Satya Adhitama Cahyantari Ekaputri Danish Ario Wirawan Devha Parsaoran Sinaga Dhiky Wahyu Santoso Dodhy Fernando Ginting Erwin Susanto Estananto Evan Dwi Septiawan Faisal Budiman Faisal Nugraha Putra Faisal Pakpahan Faishal Adli Fajrin Noor Rachman Fareza Rizky Ramadhan Fauzan Dwi Septiansyah Fiky Y. Suratman Firman Ardiansyah Ghifari Fathurrahman Hilman Fauzi, Hilman Himawan Setiadi Ig. Prasetya Dwi Wibawa Ilham Rabbani Des Chandra Aziz Indra Gunawan Saputra Istiqomah Ivan Fauzi Islami Jidan Sandika Hidayat Khikmah Nur Dwi Nofanti Khilda Afifah Leanna Vidya Yovita M Wildan Firdaus M. Ary Murti Mas Sarwoko Suraatmadja Mohamad Ramdhani Mohammad Ramdhani Muh Abdul Latif Muhammad Aditya Taufik Muhammad Fadel Nugraha Muhammad Fayyadh Muhammad Hablul Barri Muhammad Ilham Muhammad Iqbal Muhammad Raihan Ghifari Muhammad Rio Chandra Nur Ibrahim Pitung Abdullah Sutowijoyo Porman Pangaribuan Ramdhani, Mohammad Rezky Andrianto Rifqi Amir Hamzah Rita Magdalena Salim Abdullah Samuel Febrikab Dwiprasetiabudhi SENJAYA, ARIO Seno Nugroho Sepfrans Josua Hutasoit Sigit Yuwono Sony Sumaryo Surachman, Ardhan Dwi Meirika Unang Sunarya Vika Audina Matitaputty Yudhi Triarnowo Yulianto Dwi Nurul Haqqi