Mochammad Ariyanto

In this study, the EMG signals are processed using 16 time-domain features extraction to classify the finger movement such as thumb, index, middle, ring, and little. The pattern recognition of 16 extracted features are classified using artificial neural network (ANN) with two layer feed forward network. The network utilizes a log-sigmoid transfer function in hidden layer and a hyperbolic tangent sigmoid transfer function in the output layer. The ANN uses 10 neurons in hidden layer and 5 neurons

Cockroaches can traverse unknown obstacle-terrain, self-right on the ground and climb above the obstacle. However, they have limited motion, such as less activity in light/bright areas and lower temperatures. Therefore, the movement of the cyborg cockroaches needs to be optimized for the utilization of the cockroach as a cyborg insect. This study aims to increase the search rate and distance traveled by cockroaches and reduce the stop time by utilizing automatic stimulation from machine learning

This paper presents the development of a low-cost Autonomous Emergency Braking System (AEBS) that can assist the driver or take over the electric car prototype for slowing down and breaking the car at the low-speed condition. An Actuator of AEBS is selected from DC motor that widely found on the market. The proposed AEBS is placed under the hood of the car. The AEBS will pull the brake pedal by using a Bowden cable. Ultrasonic sensor will be used for measuring the distance between the electric c

This research focus on developing of low cost anthropomorphic prosthetic hand using DC micro metal gear motor. The DC metal gear motor is selected as actuator because it is easy to find, low cost, and light weight. The prosthetic hand is based on 3D printed material that enables it light weight, low cost, easy to manufacture and easy to maintain. The mechanism of the hand is based on the tendon spring mechanism. The prosthetic hand has five degree of freedom (DOF) and two joints in each finger.

A lot of research is conducted in the area of gripper on manipulator arm. They still use hard robot technology made from rigid material. Hard gripper will be difficult when it is used to grasp and hold fragile objects such as eggs or grapes. Recently, many engineers and scientists who work in robotics in the world have developed soft robot technology that is applied to the gripper. In this paper, we present the development of three-fingered soft robotic griper based on pneumatic networks. Soft r

This paper presents the development of a car model that can detect edge, line, and corner of the road image and also the model can detect the red color of a traffic light image. The car model is equipped with a camera which is used for computer vision purpose. The image comes from a camera is read by using Raspberry Pi single-board computer. The algorithms for image processing methods are selected to detect edge, line, corner, and traffic light color of the road model. The algorithms are develop

Biobot-based insects have been investigated so far for various applications such as search and rescue operations, environmental monitoring, and discovering the environment. These applications need a strong international collaboration to complete the tasks. However, during the COVID-19 pandemic, most people could not easily move from one country to another because of the travel ban. In addition, controlling biobots is challenging because only experts can operate the cockroach behavior with and wi

Due to their size and locomotion ability, cockroaches are favorable as hybrid robot platforms in search and rescue (SAR) missions. However, cockroaches most likely approach the corner area and stay for an uncertain time. This natural behavior will hinder the utilization of cyborg cockroaches in SAR missions under rubble, unstructured, and unknown areas. Therefore, we proposed onboard automatic obstacle avoidance and human detection that can run on the wireless backpack stimulator without an exte

In this paper, a low cost anthropomorphic robotic hand is developed using low cost materials. The robotic hand has 6 joints and 6 actuators. User or operator gives the hand movement command by a modified glove sensor. The glove consists of six flex sensors placed on the fingers and wrist join that detect the bend of the fingers into a joint angle in each finger. 3D CAD model of robotic hand is exported into SimMechanics model using SimMechanics link to generate SimMechanics block diagram that ca

This research will try to design a low cost of fixed-wing unmanned aerial vehicle (UAV) using low-cost material that able to fly autonomously. Six parameters of UAV’s structure will be optimized based on basic airframe configuration, wing configuration, straight wing, tail configuration, fuselage material, and propeller location. The resulted and manufactured prototype of fixed-wing UAV will be tested in autonomous fight tests. Based on the flight test, the developed UAV can successfully fly aut

In the developing countries, the need for prosthetic hands is increasing. In general, transradial amputee patients use prosthetic hands that are passive like a body-powered prosthesis. This research proposes a low-cost myoelectric prosthetic hand based on 3D printing technology. Hand and finger size were designed based on the average size of human hands in Indonesia. The proposed myoelectric hand employs linear actuator combined with the tendon-spring mechanism. Myoelectric hand was developed wi

In an assistive device such as hard exoskeleton hand, there are some disadvantages, such as hard to align with the user's finger, still solid / rigid form that allows a broken part when colliding with other solid/hard objects. In this research, soft Pneumatic Bending Actuators (PBA) are developed as wearable robot based on soft robot technology for hand rehabilitation or assistive device. The proposed soft PBA uses pressurized air chamber in the silicon rubber material performing a bending motio

This paper presents the development of new type of wearable robot namely Supernumerary Robotic Finger (SRF) as an assistive robot for healthy people or people with hemiparesis or hemiplegia. SRF comprises of two manipulators attached in user's wrist. Three flex sensors are utilized to measure the finger bending of the user's finger. The posture of SRF is driven by modified glove sensor. The kinematics of both robotic thumb (RT) and robotic finger (RF) is studied using D-H parameter method and Ro

Autonomous navigation of cyborg insects in complex environments remains a challenging issue. Cyborg insects, which combine biological organisms with electronic components, offer a unique approach to tackle such challenges. This study presents a biohybrid behavior-based navigation (BIOBBN) system that enables cyborg cockroaches to navigate complex environments autonomously. Two navigation algorithms were developed: reach-avoid navigation for less complex environments and adaptive reach-avoid navi

One of challenges in aerial grasping is the dynamic change in the center of gravity (CoG). The control system design of quadrotor must be able to compensate for the dynamic change in the CoG of the quadrotor. It is caused when a quadrotor flies and carries a payload, the CoG of quadrotor does not coincide with the center of the quadrotor's geometry. Therefore, for designing a robust control system with respect to an added payload mass, an accurate dynamic model of a quadrotor is highly required.