DESIGN OF GLOVE REHABILITATION USING SOFT ACTUATOR WITH PNEUMATIC SUPPORT SYSTEM FOR HAND REHABILITATION OF POST-STROKE PATIENTS WITH HAND SPASTICITY

• Main Author: PUTRI THALIA (NIM : 13314073), DINDA
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/26687
• Institution: Institut Teknologi Bandung

<p align="justify">In Indonesia, the percentage of people who suffer from stroke keeps on increasing each year. Stroke can cause motoric function disability, such as spasticity of hand. A method of the rehabilitation that is structured, repetitive and ongoing is needed to optimize motoric functions. Unfortunately, the only rehabilitation method available is currently based on the direction of movement provided by doctors or medical personnel which still use conventional rehabilitation tool. <br /> <br /> In order to solve that problem, this study was focused on the development of rehabilitation glove to strengthen the elasticity of hand through flexion-extention movement. The glove will be designed with extra soft actuator components from silicone that serve as artificial muscles to perform the flexion-extention periodic movement, components of electrical-pneumatic support system as the air supply control. <br /> <br /> Mechanisms of rehabilitation mittens begins with air supply, which by the compressors will be channeled towards the gloves suit openings valve solenoids which are controlled by the microcontroller through the relay. A control system is needed to complete the task. The system consists of actuator, sensor, and controller. The actuator is katup solenoid, the control is performed by the microcontroller aimed to regulate the opening katup solenoids which provide air pressure on the gloves in accordance with air pressure at the supply that is controlled by PID and pressure sensor as the feedback. PI controller parameters in this system were &#119870;&#119870;&#119901; = 4800, &#119870;&#119870;&#119870;&#119870; = 151973.278 and &#119870;&#119870;d = 37.910 which are gained by tuning method using the Ziegler Nichols 2 and the sum of square error (SSE) implementation of 0.288x103, 0.466x103, 1.046x103 to each pressure of 15 psi, 20 psi and 25 psi.<p align="justify">