RANCANG BANGUN SARUNG TANGAN REHABILITASI PASIEN PASCA STROKE UNTUK REPETITIVE MENGGUNAKAN METODE PID TERINTEGRASI TELEGRAM

Muhammad Farrel Prambudi, . (2026) RANCANG BANGUN SARUNG TANGAN REHABILITASI PASIEN PASCA STROKE UNTUK REPETITIVE MENGGUNAKAN METODE PID TERINTEGRASI TELEGRAM. Skripsi thesis, Universitas Pembangunan Nasional Veteran Jakarta.

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Abstract

Post-stroke hand motor impairment remains a major challenge in long-term rehabilitation, as effective recovery requires repetitive, stable, and well-controlled finger movements. Conventional rehabilitation methods and commercial robotic devices often lack portability, motion stability, and remote monitoring capabilities, limiting their suitability for home-based therapy. This study proposes a smart rehabilitation glove for post-stroke patients that performs automated repetitive finger flexion and extension using a Proportional–Integral–Derivative (PID) control method integrated with Telegram-based monitoring. The system is developed using an ESP32 microcontroller, servo motors, and flex sensors, with individual linear calibration models applied to each finger to improve angle measurement accuracy. System performance is evaluated using the Integral of Absolute Jerk (IAJ) as a quantitative metric for movement smoothness across multiple set points (30°, 45°, 60°, and 75°). Experimental results demonstrate that the proposed PID-controlled system significantly improves motion quality, achieving average IAJ reductions of 72.56%, 69.17%, 63.98%, and 61.29% at the respective set points, with an overall average reduction of 66.75% compared to the uncontrolled system. Functional testing confirms 100% accuracy in repetition counting for operation durations of 1, 5, and 10 minutes.

Item Type: Thesis (Skripsi)
Additional Information: [No. Panggil: 2110314076] [Pembimbing 1: Ni Putu Devira Ayu Martini] [Pembimbing 2: Achmad Zuchriadi P] [Penguji 1: Muhamad Alif Razi] [Penguji 2: Andre Suwardana Adiwidya]
Uncontrolled Keywords: Post-Stroke Rehabilitation, Rehabilitation Glove, PID Control, Telegram
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Fakultas Teknik > Program Studi Teknik Elektro (S1)
Depositing User: MUHAMMAD FARREL PRAMBUDI
Date Deposited: 05 Feb 2026 02:05
Last Modified: 05 Feb 2026 02:05
URI: http://repository.upnvj.ac.id/id/eprint/42500

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