University of Mumbai

A.Y. 2023 - 2024

DESIGN AND MAKING OF EXOSKELETON

Submitted in partial fulfillment of the requirements of
the Mini-Project II-A for Third Year of

Bachelor of Mechanical Engineering

by

Shaikh Khaiyam Siraj (211M004)

Rajput Aiyan Mohammed Shoaib (211M002)
Mhatre Bhoomika Deepak (211M023)
Pawar Anugrah Pradeep (211M010)

Guide:

Prof. Jugal Jagtap

Department of Mechanical Engineering

Rizvi College of Engineering
 CERTIFICATE
This is to certify that the mini-project entitled “DESIGN AND MAKING OF
EXOSKELETON” is a bonafides work of Khaiyam Shaikh (211M004), Aiyan Rajput
(211M002), Bhoomika Mhatre (211M023), Anugrah Pawar (211M010) submitted to the
University of Mumbai in partial fulfillment of the requirement for the Mini-Project 1 for Third
Year of the Bachelor of Engineering in Mechanical Engineering.

Certified By

Prof. Jugal Jagtap Prof. Keshav Jatkar

Project Guide Head of Department

Prof. Prof.

Internal Examiner External Examiner

Dr. Varsha Shah

Principal

Department of Mechanical Engineering

Rizvi College of Engineering,
Off Carter Road, Bandra(W), Mumbai-400050
 Declaration
We declare that this written submission represents our ideas in our own words and where others'
ideas or words have been included, we have adequately cited and referenced the original sources.
We also declare that we have adhered to all principles of academic honesty and integrity and
have not misrepresented or fabricated or falsified any idea/data/fact/source in my submission.
We understand that any violation of the above will be cause for disciplinary action by the
Institute and can also evoke penal action from the sources which have thus not been properly
cited or from whom proper permission has not been taken when needed.

___________________

Khaiyam Shaikh(211M004)

___________________

Aiyan Rajput(211M002)

___________________

Bhoomika Mhatre(211M023)

___________________

Anugrah Pawar(211M010)

Place:

Date:
 ABSTRACT

Keywords:

Exoskeletons; Bioengineering; Biomechanics; Bio mechatronics; Rehabilitation robotics

Robotic exoskeletons have emerged as a groundbreaking technology in the fields of healthcare,
rehabilitation, and assistive devices. These wearable machines are designed to augment and
support human movement, offering a wide range of applications from enhancing the mobility of
individuals with mobility impairments to assisting workers in physically demanding tasks. This
abstract provides an overview of the key aspects of robotic exoskeleton technology.
Robotic exoskeletons are engineered with advanced sensors, actuators, and control systems,
which enable them to detect the user's motion and provide assistance where needed. They are
versatile tools for a variety of applications, such as gait rehabilitation, enabling individuals with
spinal cord injuries to regain mobility and independence. Additionally, they find use in industrial
settings, where they can reduce the risk of musculoskeletal injuries and enhance worker
productivity.
The design and engineering of robotic exoskeletons are continually evolving to enhance comfort,
usability, and adaptability. Researchers are developing lightweight and ergonomic exoskeletons
that minimize user fatigue while ensuring optimal support and functionality. Control algorithms
are being refined to provide a seamless interaction between the user and the exoskeleton,
adjusting in real-time to accommodate different tasks and terrains.
This abstract also touches on the importance of ongoing research and development efforts, which
aim to address various challenges, including cost-effectiveness, energy efficiency, and user
acceptance. As these challenges are overcome, the adoption of robotic exoskeleton technology
is expected to grow, benefiting a broad spectrum of users, from individuals with mobility
impairments to elderly populations seeking to maintain their independence.
In summary, robotic exoskeletons represent a transformative technology with the potential to
significantly impact the lives of people with mobility limitations and contribute to safer and
more efficient work environments. This abstract provides a brief insight into the current state
and future potential of robotic exoskeletons in enhancing human mobility and rehabilitation.
 Index
Sr. Title Page No
No.
1 Introduction 1

2 Review of Literature
2.1. Paper 1 2
2.2. Paper 2 3
2.3. Paper 3 4
2.4. Paper 4 6
2.5. Paper 5 7
2.6. Paper 6 8
2.7. Paper 7 9
2.8. Paper 8 10

3 Report on the Present Investigation

3.1. Background theory 11
3.2. Working 13
3.3. Design Consideration 13
3.4. Design Procedure 14
3.5. Design of Robotic Exoskeleton 15
3.6. Standardization 16
3.7. Methodology 16
3.8. Components 17
3.9. Time Line 20
3.10. Gantt Chart 21

4 Cost Estimation 22
5 Ergonomics consideration in design 23
6 Advantages, Disadvantages and Application 25
7 Result and Discussion 27
8 Conclusion 28
9 References 30
Acknowledgement 32
 List of Figures
Sr. No. Title Page No

1.1 Antique exoskeletons presented chronologically 1

2.1.1 Desired joint positions and actual joint positions 2

2.1.2 5 Comparison of actual and required joint trajectories of 3-DOF 3

Exoskeleton

2.1.3 Comparison after application of CTC 3

2.1.4 Kinematic Configuration of Exoskeleton device 3

2.2.1 The patients’ movements were executed to reach different targets 4

placed at ipsilateral, central and contralateral position

2.2.2 Example of automatic identical of kinematic features associated to 4

the Ulna displacement.

2.3.1 Types of exoskeletons to increase human labor 5

2.4.1 Schematic of human lower limb (Right) and ADAMS Model of 6

lower

2.4.2 (a), (b) Nicholas Yagn’s assisted-walking device (c) Hardiman 7

exoskeleton

2.5.1 Hip belt of BLEEX Exoskeleton 8

2.5.2 Geometry of the computed arrangement 8

2.6.1 Flow Chart 9

3.5.1 Frame (Side View) 15

3.5.2 3D printing part (Solid Work) 15

3.5.3 3D printing part (Side View) 15

3.5.4 Frame Work (MS Steel) 15

3.8.1 3D Printed Part 17

3.8.2 Nut and Bolt 18

3.8.3 Linear Actuator 18

3.8.4 Battery (12V) 19

3.8.5 Frame Work (MS Steel) 19

 List of Tables

Sr.no Title Page no.

2.1.1 DH parameters 2
2.6.1 Flow Chart 9
3.9 Time Line of Project 20
3.10 Gantt Chart 21
4.1 Cost Chart 22
 Chapter 1
Introduction

Robotic exoskeletons, often referred to as powered exoskeletons or exosuits, represent a

transformative advancement in the intersection of robotics, biomechanics, and wearable
technology. These innovative devices are designed to augment human capabilities, providing
enhanced strength, endurance, and mobility. Initially conceptualized for use in medical
rehabilitation and industrial applications, the scope and potential of robotic exoskeletons have
rapidly expanded across various domains, including military, sports, and daily life assistance
for individuals with disabilities.
At their core, robotic exoskeletons are wearable machines that are equipped with sensors,
actuators, and control systems. These components work in harmony to assist or amplify the
user's movements. By closely mimicking the natural kinematics of the human body, these
exoskeletons offer a seamless blend of mechanical assistance and human control. This
symbiotic relationship not only improves physical performance but also enhances safety and
reduces the risk of injury, particularly in strenuous or repetitive tasks.
The development of robotic exoskeletons is driven by significant advancements in materials
science, artificial intelligence, and robotics engineering. Lightweight yet robust materials,
sophisticated control algorithms, and powerful yet efficient actuators have made it possible to
create exoskeletons that are both functional and user-friendly. Additionally, the integration of
machine learning and adaptive control systems allows these devices to offer personalized
assistance, adapting to the specific needs and movements of individual users.
Even though man's first companion mechanism appeared in the 1960s, as a special equipment
of the American armed forces, the real exoskeletons appeared on the researchers' agenda only
in the 1980s, when the period of physical interaction between man and robot began. The initial
purpose of the exoskeletons was to assist in physical work, in industry, in the handling of heavy
objects, but in the passage of years this goal was also directed towards medical applications,
potentiation of physical force, correction and support of movements of the lower and upper
limbs. Exoskeletons for the upper limb are divided into several categories, for the shoulder joint,
for the elbow or for the wrist, taken independently or combined with each other.

Figure 1.1. Antique exoskeletons presented chronologically

1
 Chapter 2
Review of Literature
2.1. Kinematic, Dynamic Analysis and Control of 3 DOF Upper-limb Robotic Exoskeleton

Akash Gupta, Amit Kumar Mondal, Mukul Kumar Gupta

University of Petroleum and Energy Studies, Dehradun 248007, India Manipal Academy
of Higher Education, Dubai 345050, UAE

"Kinematic, Dynamic Analysis and Control of 3 DOF Upper-limb Robotic Exoskeleton"

published in the Journal Européen des Systèmes Automatisés in August 2019. The article
discusses the design and control of a 3 DOF active exoskeleton that can perform three of the
most basic movements in the human upper-limb. The exoskeleton was designed based on the
biomechanics of the human upper-limb, with the purpose of developing a comparatively simple
robotic exoskeleton that can perform three of the most basic movements in the human
upperlimb. The exoskeleton closely resembles the structure of the human upper-limb with all
revolute joints. The key considerations in its development were accuracy, repeatability, cost,
and time. The design parameters were taken similar to the parameters of the upper-limb of a
normal human being, and the joint parameters of the exoskeleton were matched with the joint
parameters of human beings. The exoskeleton exhibits shoulder abduction/adduction,
extension/flexion, and elbow extension/flexion motions.
The article also discusses the kinematic and dynamic analysis of the exoskeleton. The kinematic
analysis includes the forward kinematics, inverse kinematics, and joint position analysis of the
exoskeleton. The dynamic analysis includes the derivation of the equations of motion of the
exoskeleton, the computation of the joint torques, and the computation of the joint trajectories.
The paper investigates the design and control of the exoskeleton, including its kinematic and
dynamic assessments, and the use of Computed Torque Control (CTC) to validate the required
joint positions. The exoskeleton performs the most basic movements of human upper-limb that
are required in the activities of daily living (ADL). The potential applications of this technology
are in the field of robotics and healthcare. The exoskeleton can be used for power augmentation,
assistance training, and rehabilitation purposes.

Fig. 2.1.1. Desired joint positions and actual joint positions

2
Fig.no.2.1.2. Comparison of actual Fig. no.2.1.3. Comparison after application

And required joint trajectories of 3-DOF of CTC

Exoskeleton

Table. No. 2.1.1

2.2. Positive effects of robotic exoskeleton training of upper limb reaching movements
after stroke Antonio Frisoli1 , Caterina Procopio1,2, Carmelo Chisari2 , Ilaria Creatini2 ,
Luca Bonfiglio2 , Massimo Bergamasco1 , Bruno Rossi2 and Maria Chiara Carboncini

The file presents a study on the effects of robotic exoskeleton training on the restoration of
motor function in spatial reaching movements for stroke patients. The study involved 10
patients who underwent 18 therapy sessions over a period of 6 weeks. The training consisted
of three exercises that involved reaching movements towards a central target, assembling
virtual cubes, and reaching movements towards multiple targets. The robotic exoskeleton
provided adjustable gain and active compensation of the arm's weight to facilitate the exercises.

The study found that the patients showed significant improvements in their motor function, as
measured by the upper limb Fugl-Meyer Assessment scale and Modified Ashworth scale. The
analysis of kinesiologic performance showed an improvement in the co-contraction index for
shoulder flexion-extension, indicating a better expression of selective activation of agonist and
antagonist muscles. The fluctuations in velocity profile during reaching presented the strongest
correlation with clinical assessment.

Overall, the study suggests that robotic exoskeleton training can be an effective rehabilitation
method for stroke patients to restore motor function in spatial reaching movements. The
adjustable gain and active compensation provided by the robotic exoskeleton can facilitate the
exercises and improve kinesiologic performance.

3
The study found that the changes in kinesiologic parameters after the training were affected by
the direction of motion (inward vs. outward movement) and position of target to be reached
(ipsilateral, central and contralateral peripersonal space). The kinesiologic parameters
correlated significantly with clinical assessment values, and their changes after the training
were explained as a result of the motor recovery induced by the robotic training, in terms of
regained ability to execute single joint movements and of improved interjoint coordination of
elbow and shoulder joints.

Fig.no.2.2.1. The patients’ movements were executed to reach different targets placed at ipsilateral, central and
contralateral position

Fig.no 2.2.2. Example of automatic identifical of kinematic features associated to the ulna displacement.

2.3. Exoskeleton - wearable devices.

Marius-Leonard Olar1, Monica Leba1, Marius Risteiu1 1University of Petroșani,
România

Exoskeletons are wearable devices that can help people perform various daily activities, from
physical work to medical rehabilitation. The design and development of these devices require
knowledge of human anatomy, biomechanics, sensors, and motor control, as well as appropriate
kinematic chain control algorithms. Exoskeletons can be constructed for one orboth arms and
can be driven by motors directly or through cables. This literature review provides an overview
of the development and use of exoskeletons for the human arm. The review includes several
references to studies and papers that have explored the use of exoskeletons for various purposes,

4
such as rehabilitation after stroke or spinal cord injury. Exoskeletons can be driven based on
information received from position, force, speed sensors or by using EMG, EEG signals.

Exoskeleton wearable devices began to appear around 1980, as an aid in physical work, in the
handling of various heavy objects. Over time, they also covered the preventive-rehabilitation
medical side, in order to reduce muscle pain or to restore specific movements, attenuated or
even missing following accidents or diseases of the muscles. These devices are associated with
several purposes, including medical rehabilitation, in the case of neuromuscular injuries,
assistance in an industrial environment, amplification of power, or support for persons with
difficulties in moving or handling objects, in daily activities.

The development of exoskeletons has been driven by the need to assist people with disabilities
or injuries. For example, exoskeletons can be used to help people with spinal cord injuries to
walk again. They can also be used to help people with neuromuscular injuries to regain strength
and mobility. Exoskeletons can also be used to assist workers in industrial environments,
reducing the risk of injury and increasing productivity. While exoskeletons have shown promise
in aiding in physical work and rehabilitation, there are still limitations and challenges to their
use. For example, exoskeletons can be heavy and cumbersome, which can limit their practicality
for everyday use. Additionally, the cost of exoskeletons can be prohibitive for some individuals
or healthcare systems. Despite these challenges, the development of exoskeletons continues to
advance, and they hold great potential for improving the lives of people with disabilities or
injuries.

Fig.no.2.3.1. Types of exoskeleton to increase human labor

5
2.4. Past, Present and Future of Assistive Robotic Lower Limb Exoskeletons

Ramesh Narina1[0000-0002-6928-7025 ], Marek Iwaniec1[0000- 0002- 1224- 4753] and

Swapnil Arawade2[0000-0003-1571-050X] 1 AGH University of Science and Technology,
Al. Adama Mickiewicza 30,30 - 059 Kraków, Poland 2 Vishwakarma institute of
technology, Pune, 411037 Maharashtra, India

The file provides a comprehensive overview of the past, present, and future of assistive robotic
lower limb exoskeletons. The file covers a wide range of topics, including mechanical design,
electrical control, algorithms, and analytical simulations such as forward and inverse kinematics
and dynamic simulations of multibody systems.

The file begins by discussing the challenges of modeling and simulating the movement of lower
limbs during various activities. A simplified model with 1DOF and 2DOF connection of the
segments at the joints is presented, and the lengths of the segments are provided. A CAD model
is created based on this data, and an MSC ADAMS model is used to simulate the multibody
dynamics of human motion during activity, such as the gait cycle.

The file also discusses the importance of the simulation environment and provides an overview
of the engineering contributions to the development of exoskeletons. The authors suggest future
projections and outline potential solutions and challenges that could impact the future of
assistive robotics.Several popular types of exoskeletons are discussed in the file, including the
ReWalk and Indego powered exoskeletons. The weight of the Indego device is 12kgs, including
the battery. The file also provides a detailed analysis of the human walking pattern by phases,
dividing the gait phase into eight different phases, including initial contact, loading response,
midstance, terminal stance, pre-swing, initial swing, mid-swing, and terminal swing.

Overall, the file provides valuable insights into the exciting world of assistive robotics and the
development of lower limb exoskeletons. The file covers a wide range of topics and provides
detailed information on the mechanical design, electrical control, algorithms, and analytical
simulations used in the development of exoskeletons. The file also discusses potential solutions
and challenges that could impact the future of assistive robotics.

Fig.no.2.4.1. Schematic of human lower limb (Right) and ADAMS Model of lower limb with exoskeleton design
(Left)

6
 Fig.no.2.4.2. (a),(b) Nicholas Yagn’s assisted-walking device (c) Hardiman exoskeleton

2.5. Universal compact lower limb turning module intended for use in orthotic robots
Mateusz Janowski1, Danuta Jasińska-Choromańska1, Dymitr Osiński1, Marcin

Zaczyk1, 1Faculty of Mechatronics, Warsaw University of Technology, Boboli 8, 02525,

Warsaw, Poland.

The file presents a concept of a turning module of the lower limb of an orthotic robot, which
introduces an additional degree of freedom to existing designs. The proposed design ensures
the necessary movement of the lower limb and the torso of an impaired person during the
execution of pivoting turns while remaining compact in order to ease the introduction of the
turning system to different orthotic robot designs. The task of the module is to enhance
capabilities of the devices it is intended to work with, by the way of introducing an additional
degree of freedom of the lower limb, which enables a change of direction of motion in a way
resembling the natural one. The paper discusses the currently used design solutions of orthotic
robots, and how a turn of the lower limb in the hip was initially considered. However, it was
noticed that a turn of the leg may be realized along the thigh axis within a safe range of rotation
of 30°. The computations related to the drive for the new design solution were executed on the
basis of the obtained results, and it was stated that the output power generated by the motor may
be over three times lower as compared with the solution employing a turn in the hip. This results
in lower mass and overall dimensions of the whole device, as well as lower consumption of
electric energy while activating a turn of the lower limb.

The proposed design of the turning module introduces an additional degree of freedom to the
existing orthotic robot designs by realizing the rotation about the lengthwise axis in the thigh
link. A three-dimensional model and its analysis are shown. At present, design solutions
enabling a turn of the lower limb occur only in a few industrial and military exoskeletons. The
proposed design ensures the necessary movement of the lower limb and the torso of an impaired
person during the execution of pivoting turn while remaining compact in order to ease the
introduction of the turning system to different orthotic robot designs.Overall, the file presents a
promising concept of a turning module of the lower limb of an orthotic robot, which can
enhance the capabilities of existing designs and improve the rehabilitation process for impaired
individuals.

7
 Fig.no.2.5.1. Hip belt of BLEEX Exoskeleton

Fig.no.2.5.2. Geometry of the computed arrangement

2.6. Exoskeleton Arm –The First Step of Real-life Iron-Man suit From Md. Sadiur
Rahman (ID: 10321035) Md. Tanjil Rashid Avi (ID: 10121026)

The file is about exoskeleton arms and their potential applications. The document begins with
a declaration stating that the dissertation is the product of the authors' own work and has not
been submitted before for any degree or examination in any other university.

The contents of the document include an abstract, introduction, motivations, literature review,
system architecture, block diagram, hardware view, circuit control, components and
implementation, glass motor, Arduino Duemilanove, 12v 30A Opto Isolated Relay Module,
printed circuit board, result, discussion, references, and appendixes. The introduction discusses
the motivations behind exoskeleton technology and its potential applications. The literature
review explores the history of exoskeleton technology and its current state of development. The
system architecture section includes a block diagram, hardware view, and circuit control. The
components and implementation section discusses the glass motor, Arduino Duemilanove, 12v
30A Opto Isolated Relay Module, and printed circuit board.

8
The result section presents the results of the authors' work on the exoskeleton arm system. The
discussion section explores the limitations and challenges of exoskeleton technology.Overall,
the file provides an overview of exoskeleton arms and their potential applications, as well as
the system architecture and components used for implementation.

Fig.no.2.6.1. Flow Chart

2.7. What Are User Perspectives of Exoskeleton Technology? A Literature Review

August 2017 International Journal of Technology Assessment in Health Care

33(02):160167
DOI:10.1017/S0266462317000460 Authors: Deborah Hill, Catherine Holloway
(University College London), Dafne Zuleima Morgado Ramirez (University College
London), Peter Smitham (University College London)

Exoskeleton technology has been gaining popularity in recent years as a means of enhancing
physical performance. This literature review aims to provide insights into the advancements and
potential of exoskeletons, as well as the challenges and limitations associated with their use.

Key Words: The key words associated with this topic are robotics, bionics, equipment design,
and spinal cord injuries. These terms are used throughout the literature review to describe the
various aspects of exoskeleton technology.

Benefits of Exoskeleton Technology: Exoskeleton technology has the potential to provide a

range of benefits to users. For example, exoskeletons can help individuals with spinal cord
injuries to walk again, as well as improve their overall mobility and quality of life. Exoskeletons
can also be used to enhance physical performance in athletes, soldiers, and other individuals
who require increased strength and endurance. Additionally, exoskeletons can be used to reduce
the risk of injury in workers who perform physically demanding tasks. One of the key benefits
of exoskeleton technology is its ability to provide mobility assistance to individuals with spinal
cord injuries. The study found that exoskeletons were effective in improving gait speed, step
length, and other measures of mobility in individuals with spinal cord injuries.

9
Exoskeletons can also be used to enhance physical performance in athletes, soldiers, and other
individuals who require increased strength and endurance. For example, exoskeletons can be
used to provide additional support and resistance during weightlifting exercises, which can help
to increase muscle strength and size.For example, exoskeletons can be used to provide
additional support and protection to workers who perform heavy lifting or repetitive motions.
This can help to reduce the risk of musculoskeletal injuries, which are a common cause of
workplace injuries and disabilities.

2.8. Wheelchair-Mounted Upper Limb Robotic Exoskeleton with Adaptive Controller for
Activities of Daily Living

Neuro-Robotics Lab, Biomedical Engineering, Wichita State University, Wichita, KS

67260, USA Robotics and Control Lab, Mechanical Engineering, Wichita State University,
Wichita, KS 67260, USA Author to whom correspondence should be addressed. Sensors
2021, 21(17), 5738; https://doi.org/10.3390/s21175738 Received: 31
July 2021 / Revised: 21 August 2021 / Accepted: 23 August
2021 / Published: 26 August 2021
The article discusses how exoskeletons can assist individuals with neuro-muscular disorders
and diseases in performing daily activities. The authors propose a wheelchair-mounted upper
limb robotic exoskeleton with an adaptive controller for activities of daily living. The authors
note that current exoskeletons are often bulky, expensive, and not designed for daily use

Background: Neuro-muscular disorders and diseases can cause upper limb impairments that
limit an individual's ability to perform daily activities. Exoskeletons can assist individuals with
these impairments by providing external support and assistance. However, current exoskeletons
are often bulky, expensive, and not designed for daily use. The authors note that there is a need
for exoskeletons that are lightweight, affordable, and designed for daily use.

Methods: The authors developed a wheelchair-mounted upper limb robotic exoskeleton with an
adaptive controller. The exoskeleton is designed to assist with activities of daily living, such as
picking up a water bottle. The adaptive controller uses surface electromyography (EMG) signals
to detect the user's intended movement and adjust the exoskeleton's movement accordingly. The
authors recruited 8 participants between the ages of 18 to 60 years without any upper movement
disabilities to test the exoskeleton. The MATLAB neural network pattern recognition toolbox
was used to plot confusion matrices after the training, validation, and testing stages of the
artificial neural network.

Results: The authors report that the proposed exoskeleton with adaptive controller shows
promise in assisting individuals with neuro-muscular disorders in performing daily activities.
The authors report that the use of EMG signals to detect the user's intended movement allows
for more natural and intuitive control of the exoskeleton. The authors report that the shortest
time for completing the water bottle pick and place task was 15.3 s by subject 5, while the
longest time was 62.6 s by subject 3. The authors report that the average completion time of the
water bottle pick and place task for EMG control was 36.35 s.

10
 Chapter 3

Report on the Present Investigation

3.1. Background Theory:

What is Robotic exoskeleton?

A robotic exoskeleton is a wearable robotic device that helps people walk by providing
personalized assistance under real-world conditions. It's designed to assist individuals with
mobility impairments or those who perform physically demanding jobs. The exoskeleton is
equipped with sensors and motors that work together to provide support and reduce the energy
required for walking. It can be worn on the legs and is powered by a battery pack, allowing
users to walk with more ease and efficiency.

Robotic exoskeleton geometry

The geometry of robotic exoskeletons can vary significantly depending on their intended
purpose, design constraints, and the specific needs of the user. However, there are some
common elements and considerations in their design:

1.Frame Structure: The frame of a robotic exoskeleton is typically designed to support the
weight of the device and any additional loads applied to it. It often consists of rigid components
such as aluminum or carbon fiber tubes, plates, and joints arranged in a way to provide structural
integrity and support.

2.Joints and Actuators: Robotic exoskeletons incorporate joints at key points corresponding to
human joints (such as the knee, hip, ankle, shoulder, and elbow). These joints allow for natural
movement and are often actuated using motors, hydraulic systems, or pneumatic systems to
provide assistance or resistance to the user's movements.

3.Ergonomics: The geometry of the exoskeleton must be carefully designed to ensure ergonomic
compatibility with the user's body. This includes considerations such as the size and shape of
the components, the range of motion provided by the joints, and the distribution of forces and
pressures on the user's body to minimize discomfort and risk of injury.

4.Sensors and Control Systems: Many exoskeletons incorporate sensors to monitor the user's
movements and intentions, as well as feedback mechanisms to adjust the assistance provided
by the device in real-time. The geometry of the exoskeleton may include mounting points for
sensors and wiring to facilitate communication between the sensors, actuators, and control.
5.Modularity and Customization: Some exoskeletons are designed to be modular or
customizable to accommodate users with different body shapes, sizes, and mobility
requirements. This may involve adjustable components or interchangeable parts that can be
tailored to the individual user's needs.

11
6.Comfort and Accessibility: In addition to ergonomic considerations, the geometry of the
exoskeleton should prioritize user comfort and accessibility. This includes features such as
padding, straps, and fasteners to secure the device to the user's body comfortably and securely,
as well as user-friendly interfaces for controlling and adjusting the device.

Fig. 3.1.1 Design of upper limb robot Fig. 3.1.2 Joints and actuators of a generic arm

Fig 3.1.3 Ergonomics robotic exoskeleton Fig 3.1.4 Control system of Exoskeleton

Fig 3.1.5. Modularity and Customization for upper limb robotic exoskeleton

12
3.2 Working
Robotic exoskeletons are advanced wearable devices designed to augment, support, or
rehabilitate human movement. At their core, they integrate a complex system of sensors,
actuators, control mechanisms, and mechanical structures to provide assistance or resistance to
the user's movements. The process begins with sensors strategically placed throughout the
exoskeleton, including gyroscopes, accelerometers, force sensors, and electromyography
(EMG) sensors. These sensors continuously monitor the user's movements, muscle activity, and
the surrounding environment. The data collected by these sensors are then processed by a
sophisticated control system, typically employing algorithms to interpret the user's intentions
and movements. Based on this analysis, the control system generates precise control signals,
dictating the actions to be taken by the actuators.
Actuators are the mechanical components responsible for executing the desired movements of
the exoskeleton. These actuators can take various forms, such as electric motors, pneumatic
cylinders, or hydraulic systems, and are strategically positioned at the joints of the exoskeleton.
Upon receiving the control signals, the actuators engage, providing assistance or resistance as
needed to augment the user's movements. The mechanical structure of the exoskeleton plays a
critical role in this process, providing a rigid framework to support the actuators and distribute
forces safely and effectively throughout the device. The geometry and design of the mechanical
structure are carefully engineered to ensure ergonomic compatibility and structural integrity.
Powering the exoskeleton is typically achieved through a battery pack, providing the necessary
electrical energy to operate the actuators and other electronic components. In some cases,
tethered systems may utilize external power sources for extended operation. Additionally, many
exoskeletons feature user interfaces, such as control panels or joysticks, allowing wearers to
interact with the device, initiate specific movements, or adjust settings. To enhance the user
experience and proprioception, feedback mechanisms may also be integrated into the
exoskeleton. These mechanisms provide sensory feedback to the user, such as vibrations or
pressure, aiding in awareness of their movements and interactions with the device.

3.3 Design Consideration

Designing a robotic exoskeleton involves a careful consideration of various factors to ensure
effectiveness, safety, comfort, and usability for the user. Here are some key design
considerations:

User Requirements and Anthropometrics: Understanding the specific needs and physical
characteristics of the intended users is paramount. This includes factors such as height, weight,
range of motion, strength, and any physical impairments.
Ergonomics and Comfort: The exoskeleton should be ergonomically designed to fit comfortably
on the user's body for prolonged periods without causing discomfort or fatigue.
Range of Motion: The exoskeleton should provide a natural and unrestricted range of motion
that mimics the movement capabilities of the human body. Joints and linkages should be
designed to allow for smooth and coordinated movements.

13
Weight and Bulkiness: Minimizing the weight and bulkiness of the exoskeleton is crucial to
prevent fatigue and facilitate ease of movement. Lightweight materials such as carbon fiber or
aluminum can be used to achieve a balance between strength and weight.
Power and Energy Efficiency: Efficient power management is essential to prolong battery life
and reduce the need for frequent recharging.
Safety Features: Safety is paramount in exoskeleton design to prevent injuries to the user and
others. This includes incorporating fail-safe mechanisms, emergency stop buttons, collision
detection sensors, and overload protection to mitigate risks during operation.
Adaptability and Customization: Designing the exoskeleton to be adaptable and customizable
allows for individualized fitting and adjustments to accommodate different users' needs and
preferences.
Sensors and Feedback Systems: Integrating sensors such as gyroscopes, accelerometers, force
sensors, and EMG sensors enables real-time monitoring of the user's movements and intentions.
Feedback mechanisms such as haptic feedback or visual displays provide users with information
about their posture, balance, and performance.
User Interface and Control Systems: Intuitive user interfaces and control systems enhance the
user experience by enabling easy operation and adjustment of the exoskeleton's settings.
Durability and Maintenance: Robust construction and materials are essential to ensure the
exoskeleton's durability and longevity, particularly in demanding environments or intensive use
cases.

3.4 Design Procedure

1. Definition of problem

2. Synthesis

3. Analysis of forces

4. Selection of material

5. Determination of mode of failure

6. Selection of factor of safety

7. Determination of dimensions

8. Modification of dimensions

9. Preparation of drawings

10. Preparation of design report

14
3.5 Design of Robotic Exoskeleton
Solid work model

Fig 3.5.1 Frame (Solid work) Fig 3.5.2 Frame (Side View)

Fig 3.5.3 3D printing part

Fig 3.5.4 3D printing part (Side View)
(Solid works)

Fig 3.5.5 Picture of actual model

15
3.6 Standardization

It is the process of establishing the set of norms to which a specified set of characteristics of a
component or a product should conform Objectives of standardization To make the
interchangeability of the components possible To make the mass production of components
easier.

Safety Protocols: Establishing guidelines to ensure the mechanical integrity, fail-safe

mechanisms, and user protection of exoskeletons. Organizations like ISO and IEC are
developing relevant standards. Performance Benchmarks: Defining metrics for mobility,
dexterity, endurance, and adaptability to evaluate and compare the functionality of different
exoskeletons objectively. Regulatory Compliance: Ensuring that exoskeletons meet national
and international regulations, particularly in medical applications. This includes clinical trials,
adherence to quality management systems, and post-market surveillance. Interoperability:
Promoting compatibility with other systems and technologies through standardized
communication protocols, data formats, and software interfaces, facilitating integration into
broader ecosystems. User Experience: Addressing ergonomics, user training, and accessibility
to ensure that exoskeletons are comfortable, easy to use, and suitable for individuals with
varying physical abilities.

3.7 Methodology

User Needs Assessment: Conduct a thorough analysis of the target user group, considering
factors such as age, mobility limitations, strength levels, and specific needs or challenges. Use
surveys, interviews, and observations to gather data on user preferences, daily activities, and
desired functionalities.
Conceptual Design: Generate initial design concepts based on the findings from the needs
assessment. Explore different approaches to addressing user needs, such as passive support,
powered assistance, or rehabilitation-focused designs. Consider factors like ergonomic fit, range
of motion, weight distribution, and ease of use in the conceptualization phase.

Detailed Design: Develop detailed designs for the selected concept, using computer-aided
design (CAD) software to create 3D models of the exoskeleton components. Specify materials,
dimensions, and manufacturing processes for mechanical parts, considering factors like
strength-to-weight ratio, durability, and cost. Design electrical and electronic systems for sensor
integration, actuator control, and power management, ensuring compatibility and efficiency.
Prototype Development: Build a prototype of the exoskeleton based on the detailed design,
using a combination of inhouse fabrication and external manufacturing services. Fabricate
mechanical components using techniques like 3D printing, CNC machining, or sheet metal
forming. Integrate sensors, actuators, and control systems into the prototype, wiring and
programming them to work together seamlessly. Conduct initial testing and debugging to
identify and address any issues or deficiencies in the prototype.

16
Validation and Certification: Validate the final design through rigorous testing to ensure
compliance with regulatory standards and safety requirements. Obtain necessary certifications
and approvals for commercialization, clinical use, or deployment in specific environments.
Document testing procedures, results, and certifications to demonstrate compliance and ensure
accountability.
Production and Assembly: Prepare for mass production by sourcing components, materials, and
manufacturing equipment. Establish manufacturing processes, assembly lines, and quality
control measures to ensure consistency and reliability in production. Train personnel in
assembly procedures, quality control protocols, and safety practices to maintain high standards
of manufacturing.
Deployment and Training: Deploy the exoskeletons for use in real-world settings, providing
training and support to users, caregivers, and healthcare professionals. Educate users on how to
properly wear, operate, and maintain the exoskeleton, emphasizing safety and best practices.
Offer ongoing support and troubleshooting assistance to address any issues or concerns that
arise during deployment.
Monitoring and Maintenance: Implement monitoring systems to track the performance, usage,
and maintenance needs of the exoskeletons in the field. Provide regular maintenance and
servicing to ensure optimal functioning and prolong the lifespan of the devices. Collect feedback
from users and stakeholders on long-term usability, durability, and satisfaction, using this
information to inform future design improvements and iterations.

3.8 Components

3.8.1 Ms Steel (Frame)

Ms Frame Fabrication Work is a new type of frame fabrication work which can be used as a
wall hanging or table top decoration. The fabric is made of high-quality polyester fibre and it
has a very good elasticity and flexibility.

Fig 3.8.1 Frame Work (MS Steel)

17
3.8.2 3D printed part

3D printing, also known as additive manufacturing, is a method of creating a three dimensional

object layer-by-layer using a computer created design.3D printing is an additive process
whereby layers of material are built up to create a 3D part. This is the opposite of subtractive
manufacturing processes, where a final design is cut from a larger block of m

Fig 3.8.2 3D Printed Part

3.8.3 Nuts and Bolts

A nut is a type of fastener with a threaded hole. Nuts are almost always used in conjunction
with a mating bolt to fasten multiple parts together. The two partners are kept together by a
combination of their threads' friction (with slight elastic deformation), a slight stretching of the
bolt, and compression of the parts to be held together.
A bolt is an externally helical threaded fastener that fastens objects with unthreaded holes
together. This is done by applying a twisting force (torque) to a matching nut. The bolt has an
external male thread requiring a matching nut with a pre-formed female thread. Unlike a
screw, which holds objects together by the restricting motion parallel to the axis of the screw
via the normal and frictional forces between the screw's external threads and the internal
threads in the objects to be fastened.

Fig 3.8.3 Nut and Bolt

18
3.8.4 Linear Actuator (12V)

A linear actuator is an actuator that creates linear motion (i.e., in a straight line), in contrast to
the circular motion of a conventional electric motor. Linear actuators are used in machine tools
and industrial machinery, in computer peripherals such as disk drives and printers, in valves and
dampers, and in many other places where linear motion is required. Hydraulic or pneumatic
cylinders inherently produce linear motion. Many other mechanisms are used to generate linear
motion from a rotating motor.

Fig 3.8.4 Linear Actuator

3.8.5 Battery (12V)

Batteries come in different shapes, sizes and differ in their uses. The 12V battery is one of such
common batteries. However, what do you know about the 12-volt battery and what is its use? A
12-volt battery is a kind of battery that is often used for various electrical gadgets and
appliances.
Furthermore, they are also used for transportation purposes in vehicles, boats and other gadgets.
12-volt battery sizes are often influenced by their uses and the amount of amp-hour they are
built to produce. Therefore, a 12 V battery implies that a voltage of 12V is supplied within the
nominal load by a battery.

Fig 3.8.5 Battery (12V)

19
3.9 Time Line

Sr No Task Name Start Date Duration End Date

1 Study of Literature 25-Dec-23 9-Days 03-Jan-24

Survey

2 Solid works 04-Jan-24Jan- 6-Days 10-Jan-24

(Frame) 24203-Jan-24

3 Solid works (Front 10-Jan-2410- 6-Days 16-Jan-24

Section) Jan-24

4 Solid works 17-Jan-2417- 6-Days 23-Jan-24

Jan-24

5 Design Correction 24-Jan-24 2-Days 26-Jan-24

6 Market Survey 1 07-Jan-241- 6-Days 13-Feb-24

Jan-24
7 Market Survey 2 14-Jan-24-24 6-Days 20-Feb-24

8 Buying Components 26-Feb-24 6-Days 05-Mar-24

9 Fabrication 1 6-Mar-24 7-Days 13-Mar-24

(Frame Work)

10 Fabrication 2 14-Mar-24 8-Days 23-Mar-24

(3D printing)

11 Assembly 24-Mar-24 6-Days 30-Mar-24

12 Final PPT of Project 31-Mar-24 4-Days 04-Apr-24

13 Report Final 05-Apr-24 4-Days 09-Apr-24

Table:3.9 TimeLine of Project

20
3.10 Gantt chart

Fig 3.10. Gantt Chart

21
 Chapter 4

Cost Estimation

4.1 Cost Chart

Sr No Name Cost (Rs.)

1 3D print 1700

2 Fabrication of MS frame 1600

3 Nut and Bolts 100

4 Foam for insulation 40

5 Switch plus wire 50

6 Linear Actuator (12V) 3250

7 Battery 500

8 Others 200

Total 7440

Table 4.1 Cost Chart

22
 Chapter 5
Ergonomics considerations in design

Ergonomics is defined as the study of the man - machine - working environment relationship.
It aims at decreasing the physical and mental stresses to the user

Areas covered under ergonomics

Communication between man (user) and machine

The goal is to link the human as closely to the robot as possible. It is the idea to transmit
velocities Ve and force Fe experienced between the slave and environment to the human and
the master such that the transmission is as transparent as possible. Then, the human can feel
fully in place of and acting on behalf of the robot. These force-feedback systems are called
haptic or telepresence systems, relating to the sense of touch they can transmit from the robot
to the human operator. In this thesis, we will focus on haptic devices for force-feedback

Few degrees of freedom and grippers which did not allow execution of fine manipulation tasks.
Today, slave robots are agile dexterous systems that allow manipulation in complex
environments with nearly human-like hands and skill. With mostly seven degrees of freedom
(d.o.f.) or even more, such robots can steer their end effectors through the workspace while
adapting their configuration to avoid obstacles or to minimize energy consumption.

23
Arm Exoskeletons for neuro-rehabilitation
Triggered by extensive research in the U.S. on using human interfacing robots for the
rehabilitation therapy of neurologically injured patients, for instance with the MIT-Manus
(Hogan et al. 1992), the ARM-Guide (Reinkensmeyer et al. 1999), WREX (Rahman et al. 2000)
or the MIME robotic device (Lum et al. 2003), also in Europe this application of robotic ortheses
created some attention. While those U.S. developments are not exoskeletons in the strict sense
(they interact only with the tip of the hand or with a small set of one or two joints) in Europe
the problem of robotic rehabilitation was approached by using exoskeletons. A fully actuated 7
d.o.f. arm exoskeleton was proposed again by Univ. of Salford in 1999 (Tsagarakis et al. 1999)
for use in rehabilitation therapy (Fig. 1.3, top left). The final arm exoskeleton is based on
pneumatic McKibben actuators (Tsagarakis and Caldwell 2003). Unfortunately, only behaviour
of one joint in torque following is shown quantitatively. In Japan, Prof. Kiguchi has proposed a
3 d.o.f. exoskeleton based on electromyography control (Kiguchi et al. 2003). A good overview
of other human arm exoskeletons under development during the start of this thesis is presented
in (Brown et al. 2003).

24
 Chapter 6

Advantages, Disadvantages and Application

6.1 Advantages and Disadvantages

Advantages:
Enhanced Mobility: Robotic exoskeletons can assist individuals with mobility impairments,
enabling them to walk, stand, or perform other physical activities they might otherwise struggle
with.
Increased Strength: Exoskeletons can augment the user's strength, making it easier to lift heavy
objects or perform tasks that require significant physical exertion.
Rehabilitation Support: Exoskeletons can be used in rehabilitation settings to assist with gait
training, muscle strengthening, and motor control therapy for individuals recovering from
injuries or surgeries.
Improved Posture and Ergonomics: Exoskeletons can help users maintain proper posture and
reduce strain on their muscles and joints, particularly in occupations that involve repetitive or
physically demanding tasks.
Assistance for Elderly and Disabled: Robotic exoskeletons can provide support for elderly
individuals or those with disabilities, allowing them to maintain independence and perform
daily activities more easily.
Increased Productivity: In industrial settings, exoskeletons can enhance worker productivity by
reducing fatigue and minimizing the risk of injuries associated with repetitive tasks or heavy
lifting.
Customization and Adaptability: Many exoskeletons offer adjustable settings and customizable
features to accommodate different user needs and preferences.
Technological Advancements: Continued advancements in exoskeleton technology, including
improvements in sensors, actuators, and control systems, promise to expand the capabilities and
potential applications of these devices.

Disadvantages:
Cost: Robotic exoskeletons can be expensive to develop, manufacture, and purchase, limiting
access to individuals or organizations with sufficient financial resources.
Complexity: Exoskeletons are complex devices that require sophisticated engineering and
programming, as well as specialized training for users and caregivers.
Weight and Bulkiness: Some exoskeletons are heavy and bulky, which can limit mobility and
comfort for users, particularly in extended use or during activities requiring agility.
Limited Battery Life: Battery-powered exoskeletons may have limited operating times between
charges, requiring frequent recharging or replacement of batteries.
Learning Curve: Users may require time and practice to become proficient in using
exoskeletons, particularly in mastering the control interface and adjusting to the added weight
and support.

25
Restricted Movement: Certain exoskeleton designs may restrict the user's natural range of
motion, potentially limiting their ability to perform certain activities or movements comfortably.

Maintenance Requirements: Exoskeletons require regular maintenance and servicing to ensure

optimal performance and reliability, adding to the overall cost and logistical challenges of
ownership.
Social Stigma: Some users may experience social stigma or discomfort associated with wearing
an exoskeleton in public settings, particularly if the device is highly visible or conspicuous.

6.2 Application
1. Medical Rehabilitation: Robotic exoskeletons are used in physical therapy and
rehabilitation settings to assist individuals recovering from injuries or surgeries, such as spinal
cord injuries, strokes, or orthopaedic conditions.
2. Assistive Devices: Exoskeletons serve as assistive devices for individuals with mobility
impairments, such as paralysis or muscle weakness. They enable users to stand up, walk, and
perform daily activities with greater independence and autonomy, enhancing their quality of life
and social participation.
3. Military and Défense: In military applications, exoskeletons can enhance soldiers'
physical capabilities by augmenting strength, endurance, and agility. They are used to reduce
fatigue, prevent injuries, and improve performance during strenuous tasks such as carrying
heavy loads, traversing rugged terrain, or operating heavy equipment.
4. Industrial and Construction: Exoskeletons are employed in industrial and construction
settings to support workers performing physically demanding tasks, such as lifting heavy
objects, operating power tools, or working in awkward positions.
5. Agriculture and Farming: Exoskeletons assist farmers and agricultural workers in tasks
requiring repetitive motions or heavy lifting, such as planting, harvesting, or carrying heavy
loads. They reduce physical strain and fatigue, allowing workers to perform tasks more
efficiently and comfortably for extended periods.
6. Sports and Athletics: In sports and athletics, exoskeletons are used for training purposes,
performance enhancement, and injury prevention. They help athletes improve strength, speed,
and endurance by providing resistance or assistance during workouts and conditioning
exercises.
7. Space Exploration: Exoskeletons have potential applications in space exploration, where
they can assist astronauts in navigating low-gravity environments, carrying out maintenance
tasks, and mitigating the physical effects of prolonged space missions.
8. Assistance for Elderly and Disabled: Robotic exoskeletons provide support for elderly
individuals or those with disabilities, enabling them to maintain mobility, independence, and
quality of life.

26
 Chapter 7
Results and Discussions
A pivotal aspect of research, encapsulating the culmination of efforts in designing and
constructing a robotic exoskeleton prototype. In this phase, the prototype's development journey
is meticulously chronicled, delving into the intricate processes of mechanical, electrical, and
software integration. The narrative unfolds with a comprehensive account of the construction
and assembly phases, revealing the intricate interplay between design specifications, material
selection, and manufacturing techniques. Despite encountering challenges inherent in such
endeavours, the adept handling of obstacles is articulated, showcasing a blend of ingenuity and
technical expertise.
Following the prototype's fabrication, exhaustive functional testing ensues, providing a robust
evaluation framework to scrutinize its performance across various parameters. Through
meticulous data collection and analysis, a nuanced understanding of the prototype's capabilities
emerges, shedding light on critical metrics such as range of motion, power consumption, and
safety features. The discussion around these findings is multifaceted, encompassing both
quantitative assessments and qualitative feedback gleaned from user trials. Such feedback not
only provides invaluable insights into user experience but also serves as a springboard for
identifying areas ripe for refinement and enhancement.
The performance evaluation serves as the fulcrum around which the discourse revolves, offering
a holistic appraisal of the prototype's efficacy vis-à-vis predefined objectives and industry
benchmarks. Rigorous scrutiny is applied to dissect strengths and weaknesses, elucidating the
nuances of design choices and operational intricacies. Importantly, the discussion transcends
mere performance metrics, delving into the broader implications of the prototype's design
paradigm within the landscape of robotic exoskeleton technology.
A comparative analysis augments the discourse, juxtaposing the prototype against existing
solutions or theoretical frameworks. This juxtaposition serves to contextualize the prototype's
unique value proposition while elucidating areas of differentiation and convergence. Drawing
upon these insights, the discussion segues seamlessly into envisaging future trajectories for
research and development. Proposals for refinement, innovation, and diversification abound,
catalysing a dialogue on the evolution of robotic exoskeleton technology and its transformative
potential across domains.

27
 Chapter 8

Conclusions
In conclusion, robotic exoskeletons represent a remarkable fusion of technology and healthcare,
offering the potential to enhance human mobility, improve rehabilitation outcomes, and
augment physical capabilities. These advanced wearable systems are on the cutting edge of
human-machine interaction and have far-reaching implications for various industries. Here are
some key takeaways from our discussion:

Enhancing Human Mobility: Robotic exoskeletons are designed to assist individuals with
mobility impairments, whether due to injury, disability, or aging. By providing mechanical
support, they enable users to regain independence and improve their quality of life.

Rehabilitation and Therapeutic Benefits: Robotic exoskeletons are increasingly used in

rehabilitation settings to aid the recovery of patients with neurological or musculoskeletal
conditions. These devices facilitate targeted, repetitive movements that can accelerate the
rehabilitation process.

Military and Industrial Applications: Beyond healthcare, exoskeleton technology is finding

applications in the military and industrial sectors. They can enhance the physical capabilities of
soldiers and workers, reducing fatigue and preventing injuries in physically demanding tasks.

Complex Technology Integration: The development of a robotic exoskeleton requires a

multidisciplinary approach, combining robotics, biomechanics, control theory, and sensor
technology. Advanced algorithms and machine learning are key components for controlling
these devices.

User-Cantered Design: Designing a successful exoskeleton involves a deep understanding of

user needs and preferences. User-friendly interfaces and customization options are essential for
ensuring user acceptance and comfort.

Safety and Regulation: Ensuring the safety of users is paramount. Compliance with regulatory
standards and rigorous testing are critical steps in the development process.

Cost Considerations: The cost of developing and manufacturing robotic exoskeletons can be
substantial, influenced by factors such as materials, technology, labour, and regulatory

28
compliance. The cost estimate should be carefully analysed and balanced against potential
benefits.

Ongoing Innovation: The field of robotic exoskeletons continues to evolve rapidly. Researchers
and companies are continually striving to improve these systems, making them more efficient,
lightweight, and cost-effective.

Societal Impact: As robotic exoskeletons become more prevalent and affordable, they have the
potential to transform the lives of millions of individuals with mobility challenges, creating a
more inclusive and accessible society.

Robotic exoskeletons hold promise as a transformative technology, offering solutions to some

of the most pressing challenges in healthcare, labour, and military domains. Their continued
development and integration into various sectors offer hope for a future where mobility
limitations can be overcome, and physical abilities enhanced, ultimately improving the
wellbeing of individuals and society as a whole

29
 Chapter 9
References

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345050, UAE
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 Acknowledgements

We are profoundly grateful to Prof. Jugal Jagtap for his expert guidance and continuous
encouragement throughout to see that this project rights its target.

We would like to express deepest appreciation towards Dr. Varsha Shah, Principal RCOE,
Mumbai and Dr. Keshav Jatakar, Head of Mechanical Engineering Department whose
invaluable guidance supported me in this project.

At last, we must express my sincere heartfelt gratitude to all the staff members of Mechanical
Engineering Department who helped us directly or indirectly during this course of work.

Khaiyam Shaikh(211M004)
Aiyan Rajput(211M002)
Bhoomika Mhatre(211M023)
Anugrah Pawar(211M010)

32