Pengembangan Bioelectrical Impedance Sebagai Control Commands Pengaturan Kecepatan Gerak Kursi Roda Dengan Metoda PID Controller

• Main Authors: Juli Sardi, Ali Basrah Pulungan
• Format: Article
• Language: English
• Published: Universitas Andalas 2014-09-01
• Series: Jurnal Nasional Teknik Elektro
• Subjects: Bioimpedance; Wheel Chair; PID Controller
• Online Access: http://jnte.ft.unand.ac.id/index.php/first/article/view/76/72

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.