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"Tingginya risiko penularan COVID-19 membuat tenaga kesehatan perlu melakukan langkah-langkah lebih dalam melakukan perawatan pasien. Seiringan dengan langkah antisipasi yang diperlukan, sumber daya yang perlu dikeluarkan oleh tenaga medis kini menjadi sangat besar jika dibandingkan dengan sumber daya yang dikeluarkan jika dilakukan pada kondisi normal. Bahkan dengan sumber daya besar yang telah dikeluarkan, masih banyak tenaga medis yang berguguran akibat COVID-19. Maka dari itu untuk mengurangi beban yang perlu ditanggung oleh tenaga medis, perlu dirancang sebuah alat yang dapat melakukan fungsi-fungsi tenaga medis yang tidak memerlukan keahlian dan mobilitas yang tinggi seperti penggantian infus dan pengukuran tanda vital secara non-invasif yang merupakan hal yang penting untuk dilakukan kepada pasien khususnya pasien penyakit yang sangat menular seperti COVID-19 secara jarak jauh. Alatyang dapat memenuhi fungsi tersebut adalah sebuah lengan robot yang dapat bergerak mengikuti pergerakan asli dari seorang pengguna atau disebut juga sebagai alat haptic secara nirkabel. Dalam membuat alat haptic, terdapat sistemsensor yang berfungsi untuk melakukan deteksi pergerakan dari pengguna dan kemudian diterjemahkan menjadi gerak oleh aktuator yang perlu dilakukan filtering. Penelitian ini bertujuan untuk merancang sebuah sistem sensor yangmampu meniru pergerakan tangan pengguna dan diterjemahkan menjadi gerak oleh aktuator secara nyaman.

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The high risk of COVID-19 transmission causes medical personnel to take extra steps in carrying out patient’s treatment. In line with the anticipation steps

required, resources needed by medical personnel increases tremendously compared to the resources spent if used under normal condition. Despite the enormous resource expended, a lot of medical personnel fell due to COVID-19. Therefore, to reduce the burden on medical personnel, it is necessary to design a device that can do the tasks of medical personnel that does not require high skill or mobility such as changing intravenous fluid and non-invasive vital signs which are essential thing to be done towards patients specifically patients with a highly infectious disease such as COVID-19 remotely. The device that has the ability to

fulfill these tasks is a robot arm that can follow the real movement of a user or also called wireless haptic device. In building a haptic device, there is a sensor system that has the function of detecting the movement of the user and then

translated into movement by the actuator that requires filtering. This study aims to design a sensor system that is able to replicate the movement of the user’s hand and translated into a comfortable movement by the actuator."

"The book begins by identifying the components of a general image registration system, and then describes the design of each component using various image analysis tools. The text reviews a vast array of tools and methods, not only describing the principles behind each tool and method, but also measuring and comparing their performances using synthetic and real data."

"ABSTRAKSistem teleoperasi bilateral adalah sistem yang dapat melakukan suatu pekerjaanpada jarak jauh dan memungkinkan pengguna merasakan sensasi seakan-akanpengguna tersebut berada pada area yang jauh. Teleoperasi bilateralmemungkinkan operator dapat secara langsung mengendalikan sebuahmanipulator pada jarak tertentu. Untuk menunjang sistem teleoperasi bilateralmaka diperlukan aktuator yang memiliki parameter-parameter yang dapatdivariasikan. Dynamixel AX-12+ merupakan serial servo yang memiliki fitur-fituryang dapat mendukung sistem teleoperasi bilateral seperti pembacaan posisi,pembacaan load, penyesuaian sudut distribusi torsi dan penentuan batas torsimaksimal. Parameter yang paling utama pada dynamixel AX-12+ yang akandiatur nilainya adalah sudut distribusi torsi. Parameter ini berguna untukmemvariasikan taraf keringanan pengguna dalam menggerakkan manipulator.Apabila sudut torsi diatur menjadi landai maka operator dapat dengan mudahmenggerakkan manipulator. Sebaliknya, apabila sudut torsi diatur menjadi curammaka operator akan merasa berat dalam menggerakkan manipulator. Pengaturansudut distribusi torsi ini harus dilakukan secara cermat karena apabila terjadikesalahan maka dapat merusak gir pada aktuator. Selain itu, kesalahan pengaturandapat berakibat sistem tidak bekerja secara baik. Perbedaan sistem yang memilikialgoritma penyesuaian torsi dengan sistem yang tidak memiliki algoritmapenyesuaian torsi adalah taraf keringanan yang dihasilkan dengan tidakmengesampingkan efek haptic yang ada. Apabila sistem tidak menggunakanalgoritma penyesuaian torsi secara otomatis maka manipulator dapat tetap denganringan digerakkan akan tetapi efek haptic yang dihasilkan kecil. Berbeda dengansistem yang menggunakan algoritma penyesuaian torsi yang dapat menimbulkanefek haptic yang baik dengan manipulator yang tetap ringan saat digerakkan. Efekhaptic ini juga dapat terlihat dari perbedaan posisi antar manipulator pada saatsalah satu manipulator menyentuh benda. Perbedaan antar manipulator maksimalpada penelitian ini mencapai 6.15⁰.

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AbstractBilateral teleoperation system is a system that able to do any work in the remotearea and allow user to experience the sensation as if the user is located in thatarea. This system allow user to control the manipulator directly at a certaindistance. To support bilateral teleoperation system, it would require an actuator,which has parameters that can be manually modified. Dynamixel AX-12+ is aserial servo motor which has features that can support bilateral teleoperationsystem with their parameters such as position reading, load reading, torque angleand torque limit adjustment. The important parameter in dynamixel AX-12+ is toset the value of the torque angle distribution. This parameter is useful to varyingthe level of user convenience while moving the manipulator. If the torque anglevalue is set to become more sloping, the user can easily move the manipulator.Conversely, if the torque angle is set to become steeper, the user will feel heavy tomove the manipulator. This torque angle arrangement must be done carefullybecause if there is a mistake in the arrangements, it can damage the internal gearof actuator. In addition, arrangements error can make the whole system troubled.The difference between the systems with torque adjustment algorithms andsystems that do not have a torque adjustment algorithm are the level of userconvenience and the sense of haptic effects. If the system does not use the torqueadjustment algorithm, then the manipulator can still drive easily but there is nohaptic effect. In contrast to the system that use torque adjustment algorithm, themanipulator can still drive easily with the sense of haptic effect. This haptic effectis also seen from the difference between manipulator?s positions when slavemanipulator touches one object. The maximum difference between manipulator inthis research reached 6.15⁰."

"ABSTRAKSistem bilateral teleoperation 4 kanal dengan beda referensi gerak antaramanipulator robot master dan manipulator robot slave membutuhkan sebuahmetode transformasi untuk mengubah masing-masing referensi gerak kedua robotagar sesuai dengan tipe pengendali yang digunakan pada kedua robot. Robotmaster mempunyai referensi gerak berupa posisi koordinat ruang kartesian dariujung lengan manipulatornya sedangkan robot slave mempunyai referensi gerakberupa kecepatan sudut untuk aktuator-aktuator pada manipulatornya. Pengendalipada robot master menggunakan task space control sedangkan pengendali padarobot slave menggunakan joint velocity space control. Untuk menciptakan sistembilateral teleoperation 4 kanal diperlukan sebuah metode untukmentransformasikan torsi dari masing – masing aktuator robot. Transformasi torsidiaplikasikan sebagai fungsi dari perpindahan ujung lengan manipulator untukrobot master dan sebagai fungsi dari perubahan sudut sendi pertama manipulatoruntuk robot slave. Pada skripsi ini metode transformasi referensi gerak yangdirancang menghasilkan perbedaan nilai terbesar antara referensi robot master danreferensi umpan balik robot slave sebesar 1,147 milimeter untuk gerak robot majudan 0,859 milimeter untuk gerak robot mundur.

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ABSTRACTA 4 channels bilateral teleoperation system with different inputreferences for both master motion and slave motion need a method fortransforming their input references. This transformation is needed in order tomake these references suitable with controllers that is used by both robots. Aposition in Cartesian space that represent a position of their end effectors is usedas a motion reference for master robot while angular velocity is used as motionreference for slave robot. These different input references will lead to thedifference of controller types that are used by both robots. Master robot uses taskspace control while slave robot uses joint velocity space control. To make a 4channels bilateral teleoperation system, a method for transforming torque fromrobot’s actuators is needed. Torque transformation is applied as a function of endeffector displacement for master manipulators and is applied as a function ofangular displacement of manipulator’s first link for slave manipulators. In thisundergraduate thesis, a transformation method that is designed could produce amaximum of difference value among peer manipulators of both robots at about1.147 millimeters for forward motion and about 0.859 millimeters for backwardmotion."

"COVID-19 had caused a global crisis in many aspects of many people life. This virus has shaken the infrastructure readiness on facing an emergency situation global health in the world. The most dangerous part of this virus is the way it spread. Patients with this disease can infect people within radius of 2 meters via air (airborne). Based on data received from Ikatan Dokter Indonesia (IDI), for every 100 people passed away due too COVID-19, 6-7 health personel also passed away with the same reason. Hence, it is important to have an autonomous intravenous liquid exchanger to reduce the chance of infected. With this device, medical personels can operate the arm robot from a control room to execute the operation of intravenous liquid exchange, temperature measurement, and blood pressure measurement.

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COVID-19 had caused a global crisis in many aspects of many people life. This virus has shaken the infrastructure readiness on facing an emergency situation global health in the world. The most dangerous part of this virus is the way it spread. Patients with this disease can infect people within radius of 2 meters via air (airborne). Based on data received from Ikatan Dokter Indonesia (IDI), for every 100 people passed away due too COVID-19, 6-7 health personel also passed away with the same reason. Hence, it is important to have an autonomous intravenous liquid exchanger to reduce the chance of infected. With this device, medical personels can operate the arm robot from a control room to execute the operation of intravenous liquid exchange, temperature measurement, and blood pressure measurement."

"The present work showcases a novel approach to modeling systems architectures by utilizing Lego bricks and RFID technology. The software provided in this book helps to get a concrete tool showing how the approach can be applied."

"This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation."

"This book constitutes the refereed proceedings of the 7th International Conference on Haptic and Audio Interaction Design, HAID 2012, held in Lund, Sweden, in August 2012. The 15 full papers presented were carefully reviewed and selected from numerous submissions. The papers are organized in topical sections on haptics and audio in navigation, supporting experiences and activities, object and interface, test and evaluation."

"If you are tasked with implementing training, you may find yourself in the position of evaluating instructional materials to ensure training program effectiveness. This Infoline presents 20 questions you should ask and answer to make certain the instructional materials, and thus the training, are an effective and worthwhile investment."

"Dengan teknologi yang tersedia saat ini, tangan robot humanoid paling maju yang digunakan dalam prostetik atau robotika dapat berharga sangat mahal, menjadikannya tidak dapat diakses oleh disabilitas dan penggemar robotika. Menggunakan teknologi pencetakan 3D, tangan robot ini dapat diproduksi secara massal dan memiliki fungsi dasar dari tangan mahal yang canggih dan murah. Robot tangan dikendalikan menggunakan sarung tangan sensor yang dapat membaca pergerakan jari dan daya tekan jari tangann penggunanya. Robot tangan memiliki sensor taktil untuk membatasi kemampuan genggaman robot dan juga dapat dikendalikan jarak jauh (teleoperasi). Penelitian ini terdiri atas pemilihan model tangan cetak 3D, perakitan komponen mekanik dan elektronik, pembuatan perangkat lunak, pengujian tangan robot dan integrasinya dengan sensor dan implementasi teleoperasi. Tangan robot mampu menggenggam beban 358 gram, dengan efisiensi hanya 5.98% dibanding keluaran torsi aktuatornya. Kesalahan maksimum pembacaan sensor sebesar 5,61% dan integrasi sebesar 11.73%. Delay sistem <1 detik untuk koneksi kabel, 1-2 detik pada mode Bluetooth, dan 2-3 detik untuk mode Bluetooth pada ruangan berbeda. Tangan Robot dapat mengangkat objek ringan, meniru gerakan jemari tangan, dan dapat berkomunikasi secara nirkabel. Robot dan sensor dapat dikembangkan untuk operasi dan manipulasi pada berbagai aplikasi seperti prostetik untuk para disabilitas, penanganan zat berbahaya, penanggulangan bencana, robot survei antariksa atau bawah laut maupun membantu kebutuhan sehari-hari manusia.

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With the technology available today, the hands of the most advanced humanoid robots used in prosthetics or robotics can be very expensive, making them inaccessible to disabilities and robotics enthusiasts. Using 3D printing technology, this robotic hand can be mass-produced and has the basic functions of an expensive and sophisticated expensive hand. The hand robot is controlled using sensor gloves that can read the movements of the fingers and the compressive force of the user's fingers. The hand robot has a tactile sensor to limit the grip capability of the robot and can also be controlled remotely (teleoperated). This research consists of selecting 3D hand printing models, assembling mechanical and electronic components, making software, testing robot hands, and integrating them with sensors and implementing teleoperations. The robot hand is able to hold a load of 358 grams, with an efficiency of only 5.98% compared to the output torque of the actuator. Maximum sensor reading error of 5.61% and integration of 11.73%. System delay <1 second for cable connections, 1-2 seconds in Bluetooth mode, and 2-3 seconds for Bluetooth mode in different rooms. Robot hands can lift light objects, mimic the movements of the fingers, and can communicate wirelessly. Robots and sensors can be developed for operations and manipulation in a variety of applications such as prosthetics for people with disabilities, handling hazardous substances, disaster management, space or underwater survey robots, or helping human daily needs."