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All Journal Jurnal ULTIMA Computing TELEKONTRAN: Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan
Rifansyah, Raihan Yusuf
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Computer Science & IT Control & Systems Engineering Engineering

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Smart Asissistive Device: Alat Bantu Komunikasi Pasien Stroke Berat Dengan Gesture Recognition Berbasis Internet Of Things Nasution, Muhammad Fadli; Nulfatwa, Robby Ikhfa; Maryam, Rahillah Nur; Iqbal, Fadhil Muhammad; Rifansyah, Raihan Yusuf; Setya Budi, Agus Heri
Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Vol. 10 No. 2 (2022): TELEKONTRAN vol 10 no 2 Oktober 2022
Publisher : Program Studi Teknik Elektro, Fakultas Teknik dan Ilmu Komputer, Universitas Komputer Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34010/telekontran.v10i2.9181

Abstract

Stroke is the highest cause of disability in the world. Most post-stroke patients experience a decrease in motor function and make the patient experience difficulties in carrying out daily activities so that they need assistance from a companion. As a result of dysartia experienced by patients, companions need to be on guard all the time by the patient's side to anticipate the patient's needs. This makes patient companions have limitations in carrying out their daily activities. Based on these problems, an innovative communication tool for post-severe stroke patients was created with gesture recognition based on the Internet of Things. This tool can assist patients in communicating their needs appropriately while at the same time making patient companions remain productive because there is no need to stand guard accompanying patients as long as they are not needed. The research method used is a planned experiment beginning with problem identification, literature study, product design, system integration, product verification and validation. Based on data analysis, the system is functioning properly, successfully sending daily activity notifications to the accompanying Android application when the patient wants to move. This tool is very useful for post-stroke patients as a tool to communicate their needs, and is also useful for companions so that time for caring for patients is not wasted. For further development, this tool can adjust the patient's motoric abilities that are still functioning, such as head movements, facial expressions, etc., as well as adding various types of activities to the tool.
Six-axis Force–Torque Analysis of a Flexible-Tube Wrist for Misaligned Ports in Robotic EV Charging Rifansyah, Raihan Yusuf; Setya Budi, Agus Heri; Saputra, Hendri Maja
ULTIMA Computing Vol 17 No 2 (2025): Ultima Computing: Jurnal Sistem Komputer
Publisher : Faculty of Engineering and Informatics, Universitas Multimedia Nusantara

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31937/sk.v17i2.4344

Abstract

This paper presents a systematic 6-axis force-torque characterization of a flexible-tube wrist for robotic electric vehicle (EV) charging under various angular misalignments. Robotic plug insertion often relies on simplified models that fail to capture the complex contact dynamics of compliant mechanisms, limiting system robustness. To address this, we developed an experimental platform based on a cartesian robot with a roll–pitch–yaw wrist to measure full force–torque profiles during quasi-static insertions with controlled misalignments ranging from −8° to +8° in pitch and yaw. The results reveal a highly non-linear and asymmetric response, quantitatively demonstrated by a contact onset that shifts from a maximum depth of 45.8 mm at 0° to as early as 31.8 mm at +8° yaw, and peak axial forces reaching -18 N in pitch and -24 N in yaw. This asymmetry has practical implication, where a -5-degree pitch resulted in insertion failure while an equivalent +5-degree was successful. From this dataset, unique and repeatable force signatures were identified for each condition, providing a foundational basis for hybrid control strategies with force sensing to handle the final delicate insertion
Co-Authors Budi, Agus Heri Setya Hendri Maja Saputra Iqbal, Fadhil Muhammad Maryam, Rahillah Nur Muhammad Fadli Nasution Nulfatwa, Robby Ikhfa