Yunardi, Riky Tri
Universitas Airlangga

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Perancangan Sistem Kendali pada Lengan Assistive Social Robot menggunakan Kamera Yunardi, Riky Tri; Mardiyanto, Ronny
JURNAL NASIONAL TEKNIK ELEKTRO Vol 6, No 2: Juli 2017
Publisher : Jurusan Teknik Elektro Universitas Andalas

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (702.515 KB) | DOI: 10.25077/jnte.v6n2.402.2017

Abstract

Robotics technology has widely applied and developed in the rehabilitation field. Assistive Social Robot is a technology that can interact with users and improve progress in rehabilitation. Accessibility when taking an object using a robotic arm system is needed. A camera is the optical sensor that has been applied to detect the position of the object. In this paper explain a design of control system of robotic arm by using a camera. Information of the distance and position are used to organizing the control of the robotic arm movement, that form of a gripper. Tests conducted include: testing to detect the contour of the object, testing the measurement of object distance, and testing the robot arm control. From the results shows the speed of performance of control system that has been designed in performing the task to pick up an object from the initial position to the end takes 28.05 seconds.Keywords : Assistive social robot, robotic arm , cameraAbstrak—Teknologi robotika telah banyak diaplikasi dan dikembangkan dalam bidang rehabilitasi. Assistive Social Robot merupakan suatu teknologi robotika yang dapat berinteraksi dengan pengguna dan memberi bantuan dalam pemulihan proses rehabilitasi. Aksesibilitas ketika mengambil sebuah benda dengan menggunakan sistem lengan robot sangat dibutuhkah. Kamera merupakan sensor optik yang paling banyak diaplikasikan untuk mendeteksi posisi objek. Artikel ini membahas mengenai sistem kendali lengan robot menggunakan kamera. Informasi jarak dan posisi objek digunakan untuk mengendalikan gerakan lengan robot robot yang berbentuk gripper. Pengujian yang dilakukan meliputi: pengujian mendeteksi kontur objek, pengujian pengukuran jarak objek, serta pengujian kendali lengan robot. Dari hasil menunjukkan kecepatan kinerja sistem kendali yang telah dirancang dalam melakukan tugas untuk mengambil sebuah objek dari posisi awal sampai akhir memerlukan waktu 28,05 detik.Kata Kunci : Assistive social robot, lengan robot, kamera
Analisa Kinerja Sensor Inframerah dan Ultrasonik untuk Sistem Pengukuran Jarak pada Mobile Robot Inspection Yunardi, Riky Tri
Setrum : Sistem Kendali-Tenaga-Elektronika-Telekomunikasi-Komputer Vol 6, No 1 (2017): Edisi Juni 2017
Publisher : Fakultas Teknik Elektro - Universitas Sultan Ageng Tirtayasa

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (768.095 KB)

Abstract

Kinerja sebuah sensor untuk mengumpulkan informasi dalam mendeteksi objek sangat penting dalam teknologi elektronika dan instrumentasi. Sensor inframerah dan ultrasonik sesuai digunakan iuntuk mengukur jarak menggunakan sinyal pantulan dari pemancar untuk memperkirakannya. Mobile robot inspaction yang digunakan dalam penelitian ini dilengkapi dengan roda sehingga bisa bergerak dan memberi informasi dari jarak jauh. Makalah ini menyajikan analisa kinerja sensor inframerah dan ultrasonik untuk pengukuran jarak pada mobile robot inspection. Sensor dipasang pada prototipe mobile robot. Sensor digunakan untuk memantau dan mengukur jarak antara robot mobile dengan sisi permukaan bagian bawah beton. Hasil analisa kinerja dalam penelitian ini dievaluasi pada lingkungan laboratorium dengan menggunakan balok beton pada ketinggian 15 - 150 cm dari tanah. Hasilnya menunjukkan sensor inframerah dan ultrasonik mampu mengukur jarak dengan persentase akurasi antara 96,88 - 98,16%.
Robotic Leg Design to Analysis the Human Leg Swing from Motion Capture Yunardi, Riky Tri; Firdaus, Aji Akbar; Agustin, Eva Inaiyah
Bulletin of Electrical Engineering and Informatics Vol 6, No 3: September 2017
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (766.684 KB) | DOI: 10.11591/eei.v6i3.645

Abstract

In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.
Application of EMG and Force Signals of Elbow Joint on Robot-Assisted Arm Training Yunardi, Riky Tri; Agustin, Eva Inaiyah; Latifah, Risalatul; Winarno, Winarno
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 1: February 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v17i1.11603

Abstract

Flexion-extension based on the systems robotic arm has the potential to increase the patients elbow joint movement. The force sensor and electromyography signals can support the biomechanical system to detect electrical signals generated by the muscles of the biological. The purpose of this study is to implement the design of force sensor and EMG signals application on the elbow flexion motion of the upper arm. In this experiments, the movements of flexion at an angle of 45º, 90º and 135º is applied to identify the relationship between the amplitude of the EMG and force signals on every angle. The contribution of this research is for supporting the development of the Robot-Assisted Arm Training. The correlation between the force signal and the EMG signal from the subject studied in the elbow joint motion tests. The application of sensors tested by an experimental on healthy subjects to simulating arm movement. The experimental results show the relationship between the amplitude of the EMG and force signals on flexion angle of the joint mechanism for monitoring the angular displacement of the robotic arm. Further developments in the design of force sensor and EMG signals are potentially for open the way for the next researches based on the physiological condition of each patient.
Pengembangan Sistem Kontrol dan Pemantauan Tetesan Cairan Infus Otomatis Berbasis Labview dengan Logika Fuzzy Yunardi, Riky Tri; Setiawan, Dani; Maulina, Farah; Prijo, Tri Anggono
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 5, No 4: Agustus 2018
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (486.101 KB) | DOI: 10.25126/jtiik.201854766

Abstract

Dalam instrumentasi medis infus merupakan perangkat yang digunakan untuk mengalirkan cairan, obat atau nutrisi secara intravena. Fungsi utama dari infus yaitu memberikan cairan secara periodik pada pasien. Perangkat infus saat ini, untuk mengendalikan kecepatan tetesan cairan dilakukan secara manual oleh staf medis. Masalah yang sering terjadi, seperti penyumbatan atau kehabisan isi cairan dan apabila tidak segera ditangani akan berbahaya bagi pasien. Penelitian ini bertujuan untuk mengembangkan sistem kontrol dan pemantauan aliran cairan infus secara otomatis. Dengan menggunakan LabVIEW National Instruments untuk memantau tetesan cairan infus. Sistem kontrol logika Fuzzy diimplementasikan dengan menggunakan mikrokontroler berbasis ATmega, yang dilengkapi dengan pompa udara, motor stepper dan pendeteksi aliran cairan. Sistem yang telah dibuat ini dapat dikembangkan untuk membantu tenaga medis dalam memantau kecepatan tetesan cairan infus untuk mencegah risiko terhadap pasien. AbstractIn the medical instrumentation infusion is a device used to drain fluids, medication or nutrients intravenously. The main function of the infusion is to give fluids periodically in patients. Infusion device at this time, to control the speed of the liquid droplets is done manually by the medical staff. Problems often occur, such as a blockage or run out of the fluid content and if not promptly treated can be harmful to the patient. This research aims to develop a prototype of control system and monitoring of the infusion liquid droplets automatically. By using the National Instruments LabVIEW to monitor the flow of intravenous fluids. The Fuzzy logic control system is implemented using an ATmega based microcontroller, equipped with air pumps, stepper motors and liquid flow detection. The performance of the prototype system of monitoring the flow of intravenous fluids automatically have a success rate of 96.75% at the set point value of 20 drops in 1 minute. 
Application of EMG and Force Signals of Elbow Joint on Robot-assisted Arm Training Yunardi, Riky Tri; Agustin, Eva Inaiyah; Latifah, Risalatul; Winarno, Winarno
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 6: December 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (557.562 KB) | DOI: 10.12928/telkomnika.v16i6.11707

Abstract

Flexion-extension based on the systems robotic arm has the potential to increase the patients elbow joint movement. The force sensor and electromyography signals can support the biomechanical system to detect electrical signals generated by the muscles of the biological. The purpose of this study is to implement the design of force sensor and EMG signals application on the elbow flexion motion of the upper arm. In this experiments, the movements of flexion at an angle of 45º, 90º and 135º is applied to identify the relationship between the amplitude of the EMG and force signals on every angle. The contribution of this research is for supporting the development of the Robot-Assisted Arm Training. The correlation between the force signal and the EMG signal from the subject studied in the elbow joint motion tests. The application of sensors tested by an experimental on healthy subjects to simulating arm movement. The experimental results show the relationship between the amplitude of the EMG and force signals on flexion angle of the joint mechanism for monitoring the angular displacement of the robotic arm. Further developments in the design of force sensor and EMG signals are potentially for open the way for the next researches based on the physiological condition of each patient.
Voice recognition system for controlling electrical appliances in smart hospital room Agustin, Eva Inaiyah; Yunardi, Riky Tri; Firdaus, Aji Akbar
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 2: April 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (576.686 KB) | DOI: 10.12928/telkomnika.v17i2.11781

Abstract

Nowadays, most hospitals have new problem that is lack of medical nurse due to the number of patient increas rapidly. The patient especially with physical disabilities are difficult to control the switch on electrical appliances in patient’s room. This research aims to develope voice recognition based home automation and being applied to patient room. A miniature of patient’s room are made to simulate this system. The patient's voice is received by the microphone and placed close to the patient to reduce the noise.V3 Voice recognition module is used to voice recognition process. Electrical bed of patient is represented by mini bed with utilising motor servo. The lighting of patient room is represented by small lamp with relay. And the help button to call the medical nurse is represented by buzzer. Arduino Uno is used to handle the controlling process. Six basic words with one syllable are used to command for this system. This system can be used after the patient's voice is recorded. This system can recognize voice commands with an accuracy 75%. The accuracy can be improved up to 85% by changing the voice command into two syllables with variations of vowels and identical intonation. Higher accuracy up to 95% can be reached by record all the subject’s voice.