B.Tech.

Project (ME-4081) – 8th semester

Date: 18-04-2022

DESIGN OF EXO-SKELETON
Presented by: Group No. - 20

Madu Sai Suresh 1802361 Supervisor

Goud AJAY KUMAR BEHERA
Biki Kumar Sah 1802160 Associate Professor, SME

School of Mechanical Engineering

KIIT, Bhubaneswar
 Table of contents
◦ Introduction
◦ Literature review
◦ Knowledge gap and Objective
◦ Problem definition
◦ Methodology
◦ Results and Discussion
◦ Future Work
◦ Conclusion
◦ References

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 Introduction
◦ An exoskeleton is the external skeleton that supports and protects an animal body, in
contrast to the internal skeleton.
◦ A powered exoskeleton is a wearable mobile machine that is powered by a system that
allows limb movement with increased strength and endurance.
◦ These Systems will be reducing the impact forces on the muscles.
◦ They are ergonomic.
◦ They are portable.

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Pic Source : https://www.bigrentz.com/blog/construction-exoskeletons
 Literature Review
Author Year Contribution
H. Zurina, A. Fatin 2015 The design and development of the lower body Exoskeleton

Cyril Varghese 2016 Design and fabrication of exoskeleton based on hydraulic support

Lihua Gui, Zhiyong

Yang, Wenjin Gu, Design and Control Technique Research of Exoskeleton Suit
2007
Xiuxia Yang,
Yuanshan Zhang

Shah Mihir Rajesh 2012 Design of Human Exo-Skeleton Suit for Rehabilitation of Hemiplegic People

Bai S.; Virk

2018 Design, Control and Applications of Exo-skeleton
G.S.,Sugar T.

A. Purna Irawan, Product design of Chairless chair based on local components to provide support for active workers
2019
Didi W Utama

Dittakavi Tarun,
2017 Stress Analysis on a Chairless Chair
Mohan Srikanth

Santhosh Kumar G,
2019 Design and Fabrication of Chairless Chair
Prakash P S

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 ◦ Initial exoskeleton experiments are commonly done using inexpensive and easy to mold
materials aluminum and steel. However, steel is heavy, and the powered exoskeleton must work
harder to overcome its own weight to assist the wearer, reducing efficiency.
◦ The aluminum alloys used are lightweight, but fail through fatigue quickly it would be improper
for the exoskeleton to fail catastrophically in a high-load condition by "folding up" on itself and
cutting the wearer.
◦ Soft wearable exoskeletons have been justified to be a valid mean of assisting human movement.
Whilst not being compatible for the application of large forces, because of their intrinsic
compliance, portability and low-power consumption make them ideal for reducing human
muscle effort in activities of daily living such as walking and grasping.

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 Knowledge gap and Objective
Knowledge gap
◦ The past models does not talk about the improvement of MSD while using the suit.
◦ The main objective of the past work is mostly focused on increasing the efficiency.
◦ Many models lack in the stability.

Objective
◦ To help reduce the muscle fatigue while static or dynamic body positions.
◦ To increase the efficiency of workforce and reduce production time.
◦ To reduce the possibilities of injuries while performing activity.
◦ To help in the process of rehabilitation.

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 Problem definition
This project is aimed at increasing the efficiency of the workforce by keeping in the mind the
health of the labors and also at improving and helping the area of rehabilitation of lower limb
movements. The fatigue over the time will cause many mental and physical health issues.

Constraints
◦ The major constraint is the weight of the Exo-skeleton
◦ The net weight of the Exo-skeleton shouldn‘t be more than 3 Kg.
◦ The mechanism should not constrain any natural movement.
◦ The center of mass should be lying in the safe limit.

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 Standards
The materials are selected, which are having high compressive yield strength.

Materials Yield Strength (Mpa) Density (g/cm^3) Cost

Aluminum 6061-T6 240 2.70 Low

Titanium Alloy Ti 6Al-4V 920 4.51 Medium – High

Carbon Fiber 230GPa 2100 1.8 High

Structural Steel 250 7.85 Low

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 Response (Outcome)

◦ The Force exerted by human is not total resisted by Exoskeleton. Some part of the body
like legs will be having its own support. So, there is effective weight exerted on System.
So, 85% of body weight force is exerted on System.
◦ The analysis is done by taking a human weight of 120kg. Effective Weight is 102 kg.
◦ The Model is well in the safe limits, and did not show any threats to the human body. The
Strut makes the system lie in the CG area provide Stability and smooth function.

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Pic Source : researchgate.net/Alexander Egoyan
 Strained
Neck
Shoulder
Pain

Lower
Back Pain

Leg Muscle
Dis-Order

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Pic Source : ASG Sports Solutions
Ljubi Francic
 Methodology • The initial idea was generated
based on providing support to
the human lower body. The
◦ Force Applied posture of the lower body can
Centre of Mass be viewed similar to the
cantilever beam. 

• Generally, when a person is in

• As the force is exerted far a squatting posture, the COG
away from the base; it should acts far away from the legs.
be given support that gives This resembles a beam fixed at
balance and provide only one end i.e. Cantilever
equilibrium to the body. The beam.
support should also provide
support to the person
practising un-natural
postures.
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 Initial Conditions
Define Index Length (m)

Height h 1.70

Leg l1 0.9

Calf l2 0.4
h

The design has been carried out

l1 w.r.t to Average human height of
1.70m (5.8”).
l2

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 Comparison on design

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 Seating Pad
Basic Wireframe (Fabric Cushion)

Thigh Support

Support Link
Safety
Cushions
Gas Spring

Base Link
Base Support
(Rubber Grip)
Shoe Clipper

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 Results and Discussion
The simulation has been done in Ansys software.
Mesh Setting :
◦ Shapes : Tetrahedral, Rectangles
◦ Size : Coarse in Junctions, Finer in Non-Critical points

Force Applied :
◦ Weight exerted is
120*0.8* = 96kg = 950N
◦ B = 700N
◦ C = 250N

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 This is a result of von-Moises stress:
The maximum stress is seen mainly in these elements.

This region will be the first member to result any

damage. The primary reasons being high Bending
Moment.
This is easily countered by the support from gas spring.

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 Table for result comparison

Force (N) Deformation(mm) Von-Mises Stress (Mpa)

Materials

950 0.3385 112.51

Aluminum 6061-T6

950 0.9525 94.11

Titanium Alloy Ti 6Al-4V

950 3.0311 86.2

Carbon Fiber 230GPa

950 0.7033 93.36

Structural Steel

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 Centre of Gravity
This is one of ways to keep the
stability intact by making the
lower limb to deflect with
respect to the human. The
deflection increases the area of
contact and CG falls with in
that limit.

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 Future Scope

◦ The Exo-skeleton has huge use in the present and the coming future.
◦ The suits can be improved for handling heavy loads by increasing the strength
of the components used in it.
◦ Ultralight materials can be used such as titanium and carbon fibre, by fusing
them together to provide flexibility and strength.
◦ Electrically actuated cylinders can be employed to further increase the range
of work.

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 Conclusion
◦ In order to reduce the forces on the muscle, the Human body need to be accommodated
with a support. This support can be provided by the use of Chair less Chair to lower limbs.

◦ We are making a design that is portable, ergonomic and light weight which allows people
to wear it and use it accordingly to reduce the MSD (muscular disorders) fatigue.

◦ These Exoskeletons can be vital in many fields. One of them is this Chairless chair, which
can provide additional support and enhance livelihood. We have designed the elements and
members by using subject of Mechanics and Design of Machine Elements. The analysis is
also done by taking assumptions on critical load.

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 References
◦ Human body dynamics: Classical mechanics and Human movement by Aydin Tozeren, Springer Science & Business Media, 1999
◦ Assessment of User Needs in the Design of a Wearable Robot for Neurorehabilitation, presented at the DLSU Research Congress 2017
De La Salle University, Manila, Philippines June 20 to 22, 2017
◦ H. Zurina, A. Fatin “The design and development of the lower body Exoskeleton”, 2nd Integrated design project conference (IDPC)
2015.
◦ Cyril Varghese, “Design and fabrication of exoskeleton based on hydraulic support”, International journal of advanced research (2016),
volume4, Issue 3, 22- 28.
◦ International Conference on Mechatronics, Control and Electronic Engineering (MCE 2014),The Exoskeleton Robot Research Progress
and Prospect,Bing wang Mechanical engineering school huaihai institute of technology Lianyungang, China
◦ Lihua Gui, Zhiyong Yang, Xiuxia Yang, Wenjin Gu, Yuanshan Zhang, Design and Control Technique Research of Exoskeleton Suit,
Proceedings of the IEEE International Conference on Automation and Logistics August 18 - 21, 2007, Jinan, China.
◦ E. Rocon, A.F Ruiz, J.L. Pons, J.M. Belda-Lois, J.J. S´anchez-Lacuesta, Rehabilitation Robotics: a Wearable Exo-Skeleton for Tremor
Assessment and Suppression Proceedings of the 2005 IEEE
◦ Nasa.gov
◦ Harvard.edu
◦ Armytechnology.com
◦ Financialexpress.com
◦ Roboticsbusinessreview.com
◦ Noone.com
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 Thank you

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