A Study on Damping Profile for Prosthetic Knee
Anup Nandy, Soumik Mondal, Lokesh Rai, Pavan Chakraborty and G C Nandi
Robotics & AI Lab, Indian Institute of Information Technology – Allahabad
Telephone number: +91 532 2922120/2121
{ nandy.anup, mondal.soumik, erlokeshrai }@gmail.com, { pavan, gcnandi }@iiita.ac.in
ABSTRACT
An intelligent prosthetic leg for above knee amputee person has
been developed by Indian Institute of Information Technology -
Allahabad. The leg has been called as Adaptive Modular Active
Leg (AMAL). The main aim of this paper was to generate suitable
damping profiles required for above knee prosthetic patients for
locomotion. A detailed analysis of human gait cycle is needed to
provide damping profiles to the prosthetic knee. This information
is obtained from the healthy leg. A simple potentiometer sensor is
fitted beside the healthy knee to measure the knee angle and strain
gauges mounted below the heel, in the shoe to measure gait strain.
These signals from the knee and the heel are the input that
describe the gait cycle of the patient. These two signal values are
cleaned using Kalman filter to reduce the sensory noise for
providing better performance to our system. Human gait cycle is
divided into six different phases to evaluate damping profiles. In
this paper, we formulate six different damping equations to
produce damping profiles for prosthetic knee. The Artificial
Neural Network has been used to classify different phase of
walking cycle with suitable damping value.
Categories and Subject Descriptors
J.3 [Computer Applications]: LIFE AND MEDICAL
SCIENCES – Health, Medical Information Systems.
General Terms
Performance, Experimentation, Human Factors.
Keywords
Kalman Filter; Damping Profile; MR Damper; Artificial Neural
Network, Robotic Prosthetic Leg; Above Knee Amputee.
1. INTRODUCTION
Walking is indeed a very complex task which involves balancing,
stability and body movement. Human knee plays an important
role during walking. Prostheses are artificial replacement of body
parts lost due to injury or illness. For prosthetic knee, walking is
controlled by adjusting the damping of knee joint. The task of
making a disabled person’s walk requires a detailed analysis of his
gait. Human gait [1, 2 and 15] describes the walking behavior of
any particular person. Gait analysis gives us the required
parameters and their details which are used in artificial leg
implementation. The task is to replicate the normal walking using
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artificial body parts. Different joint angle changes in different
manner during walking cycle. The moment of force at each joint
also varies. We have considered knee angle and knee moment/gait
strain variation over the time for implementation purposes. Proper
resistance is required at knee during walking. This is not constant
for a whole gait cycle. To provide the required resistance we use
Magneto Rheological (MR) damper [3]. We need to compute the
damping value to support comfortable walk. Since the damping
value [4, 5] varies over whole gait cycle, we need to find out the
periods where it follows some particular pattern and which can be
given by damping equations. To support this idea we divide the
whole gait cycle into six different phases and then we find out the
six different equations to get the damping value. Knee angle and
knee moment/gait strain values are captured using sensors.
Kalman filter is used to reduce the sensory noise. Kalman filter
estimates the true state of the system (leg) in presence of noise.
Then the system identifies the current phase of the gait in which
the walker is currently in. Then it selects one of the damping
equations to generate the damping coefficient value for that
identified phase of the gait. This provides the required necessary
resistance to knee to enable comfortable walk.
The paper is organized in the following manner. Human gait and
its division in different phases are described in section 2. Section
3 talks about the methodology. Section 4 tells about the Kalman
filter implementation in the noisy environment. Both linear
Kalman filter and unscented Kalman filter are discussed in this
section. Gait phase identification is done using feed forward back
propagation multilayer neural network. Its details are given under
section 5. The description of damping equations of different
phases is mentioned in section 6. Finally the results are given
under section 7 followed by conclusion and discussion.
2. HUMAN GAIT
Human learns walking over a long period of time but a cuff or any
other animal child can start walking immediately after their birth.
This is because of body structure. There is a continuous
refinement and learning process in our mind to stabilize or
balance our body during walk, run or in any other motion.
Keeping our body in balance, it sounds like such a simple task.
But even in the act of standing quickly, our balancing system
works a lot.
Walking is complex mechanism. It requires much balance and
coordination, yet we can do it without even thinking about it.
Human motion is analyzed in terms of gait. It is subject to
extensive research. Human gait [1, 2, 4 and 15] is extremely
complicated process. All limbs of the body move in concerted
fashion during gait. Their motion is controlled by the muscular
activity at each joint. The specific dynamic behavior exhibited by
each joint varies according to a large number of factors including
the walking speed, the surface being walked upon, load being
carried out and the state of other limbs. Understanding the
function of a normal leg during walking is most important when
replacing it.
The most practical and only used way to understand and describe
the walking is Gait Cycle. The duration between the two
consecutive foot contacts of the same foot is called gait cycle. So
it begins when one foot contacts the ground and ends when that
foot contacts the ground again. Normally the gait cycle is
symmetric and cyclic process. A single gait cycle can be divided
in to two major phases of walking, Swing phase and Stance phase.
Stance phase accounts for approximately 60 percent of a single
gait cycle and swing phase accounts for 40 percent. Whole gait
cycle is shown in figure 2.1. For implementation purpose the gait
cycle is divided into six phases. The division of gait cycle is based
upon the nature of knee motion (flexion/extension) and the sign of
Angular velocity (positive/negative). Generally others [5] have
divided the gait cycle into 5 or 7 numbers of phases according to
their implementation. These six phases are named as follows.
Figure 2.1. Human gait cycle
Figure 2.2. Phases of gait cycle for knee angle
Figure 2.3. Phases of gait cycle for knee moment
Phase 1 is called Early Stance/Initial Contact/Stance Flexion.
Phase 2 is Mid Stance/Stance Extension. Phase 3 is Pre-Swing.
Phase 4 is Initial Swing. Phase 5 is Mid Swing. Phase 6 is
Terminal Swing. Figure 2.2 shows divided gait cycle phases for
512 International Conference on Advances in Computing, Communications and Informatics (ICACCI-2012)
knee angle. Figure 2.3 shows divided gait cycle phases for knee
moment/gait strain.
3. METHODOLOGY
Knee angle and knee moment/gait strain are the two parameters
being used in our work. Knee angular velocity can be calculated
from knee angle data. These three variables are used in our work.
Here the data used, is downloaded from internet and is of one
person only. That data was originally published in Table 4.24b,
p.64 in Winter (1991) [14]. Work done under this project was a
part of the IIIT-Allahabad intelligent prosthetic knee project. Here
the overall approach will be discussed in detail which was used to
make the intelligent prosthetic leg work. The whole task is
divided into following fields. The entire system outline has been
demonstrated in figure 3.1
x Reading Data from sensors.
x Removal of Noise from Data.
x Gait Phase Identification.
x Generation of damping pattern for each phase.
x Apply the actual damping to actuator (Damper).
Microcontroller is used here to implement the on-leg intelligence.
This Microcontroller reads the data from sensors. Then this sensed
data will be filtered out from noise and used to generate the
damping coefficient to make the leg work. Finally this damping
value is supplied to damper. We have developed a control
algorithm to make the leg intelligent enough so that it can adjust
the damping of leg efficiently during walk. Gait phase
classification is done with neural network. Supervised kind of
learning is used to make the network work. The walking data is
available for a particular person only. So the training pattern for
neural network learning can be easily created. Then this network
learns the pattern and adjusts its weights and biases accordingly.
Next time when test input is applied it will use those adjusted
weight and biases values and generate the corresponding output.
Now our main task is to identify the damping profile for normal
walk. Six equations are derived to generate damping coefficient.
Then one of the damping equations has to be selected to generate
damping coefficient for damper according to the identified phase
of the leg.
Figure 3.1. System outline
4. KALMAN FILTER IMPLEMENTATION
In IP Knee two types of sensors are mounted on it. First is
potentiometer which measures the knee angle made by the leg and
other sensor, strain gauges, reads the moment of force at the knee
while walking. But there is a possibility that these sensors
readings might be affected by noise. The whole system (leg) will
work accurately and will give correct output of gait phase and moment readings is calculated first and then based on the
damping if we provide the required information without having observation of knee moment variation, so the relationship can be
the effect of noise. So the first task is to remove noise from the formulated as,
sensor readings. The Linear Kalman Filter needs a model of the M2 = M1 + {Sqrt (Ȧ
ș) * DeltaT} / 10 (4.7)
system and measurements [6, 7, 8] in order to predict and correct
the system’s state. The system model describes how the true state
of the system evolves over time. The state equations and output Where M1 is the value of knee moment at time t and M2 is the
equations of the linear system are given by value of knee moment at time t+DeltaT. Ȧ is the knee angular
velocity and ș is the knee angle.
Xk = A Xk-1 +B uk-1 + wk-1 (4.1) A= 1 0 (4.8)
Zk = H Xk + vk (4.2)
0 1
In the above equations A, B and H are matrices; k is the time It is a unit matrix because there is no multiplicative term used here
index; X is called the state of the system; Z is the measured with previous state value. In a similar way matrix B will be
output; and w and v are the noise. The variable w is called the B= Ȧ (4.9)
process noise and v is called the measurement noise. In our system
{Sqrt (Ȧ * ș)} / 10
two quantities are going to be measured, Knee angle and knee
moment at knee. So the state consists of knee angle Xknee and knee
moment Xmoment. So the state is represented by And DeltaT will be acting as control input. Matrix H will be
H= 1 0 (4.10)
X= Xknee 0 1
(4.3)
Xmoment Now our linear equations can be written, using the matrix A, B
and H of equations (4.8), (4.9) and (4.10), as follows
Let’s analyze the behavior of leg. As the leg moves the state of the
system changes continuously with respect to time. This movement Xk = 1 0 Xk-1 + Ȧ DeltaT + PNoise (4.11)
of both knee angle and knee moment is given by
0 1 { Sqrt (Ȧ * ș) } / 10

Xk = A* Xknee, k-1 + B * DeltaT (4.4)

Zk = 1 0 Xk-1 + Measurement Noise. (4.12)
Xmoment, k-1
0 1
The knee angle variation during motion can be explained by The noise covariance matrices are defined as
figure 4.1
Process Noise covariance
R = E ( w wT )
Measurement Noise covariance
Q = E ( v vT )
ș1 ș2 For nonlinear system Unscented Kalman Filter [9, 10] is being
used. Its implementation is as follows:-
In our case, the system model that we are looking for describes
At Time t At Time t + DeltaT how the state of the leg changes due to the motion. The need is for
a system model that given the last state and a relative
Figure 4.1. Knee angle variations measurement, determines the new state. In order to derive this
model, let us formalize a state and a relative measurement more
Suppose that the angle made by the knee at time t is ș1 and after precisely.
duration of DetlaT the knee angel is ș2 at time t+DeltaT. The
Knee is moving with the angular velocity of Ȧ. So the relationship As already mentioned that state of the leg at current situation k
can be expressed as can be defined as in equation (4.3).
Now the relative displacement is the displacement made by the
ș2 = ș1 + ( Ȧ * DeltaT ) (4.5) leg over a certain time interval. This relative displacement will
include both knee angle relative displacement and knee moment
relative measurement. So the relative displacement can be defined
The knee angular velocity is defined as rate of change of knee as
angle and can be calculated as
Uk = U ǻ$N (4.13)
Ȧ=dș/dt (4.6)
U ǻ0N
Hence the relationship of current knee angle with previous knee
angle is obtained. This will help us in defining the system model
for knee angle. In the very similar way the same sort of :KHUHǻ$LVWKHUHODWLYHFKDQJHLQNQHHDQJOHGLVSODFHPHQWDQG
relationship for knee moment is also required to be found out. To ǻ0LVWKHUHODWLYHFKDQJHLQNQHHPRPHQWPHDVXUHPHQW+RZWR
find out the relationship the difference between successive knee

International Conference on Advances in Computing, Communications and Informatics (ICACCI-2012) 513

calculate these relative changes is already described earlier in this supervised learning method. It is mainly divided into two parts.
section itself. Equation (4.5) and (4.7) gives us the values of First is the training of neural network and next is classification.
relative measurement for knee angle and knee moment Around forty-two samples (Table 1) from all the six phases are
respectively. used to train the neural network. After training, our network is
Now given the relative information Uk-1 and given the last state of able to understand the data pattern and set its weight accordingly.
the leg Xk-1 we can express the current state of the leg using the Then test data is provided for classification to check the
following function f correctness of classifier.
This network has three layers. First layer is input layer which
takes the input and supplies it to the neurons of second layer.
Xk = f (Xk-1 , Uk-1) = f A (Xk-1 , Uk-1) (4.14) Second layer has five neurons with logsig transfer function and
the third layer has six neurons with purelin as a transfer function.
f M (Xk-1 , Uk-1)
Selection of number of layers and number of neurons in each
layer is a difficult task. There is no proper method to select these
In the same way the noisy system model can be represented by numbers.
The formulas for transfer functions are
Xk = f (Xk-1 , Uk-1) + wk-1
logsig(n) = 1 / (1 + e-n).
purelin(n) = n.
= f A(Xk-1 , Uk-1) + wA,k-1 (4.15)
f M(Xk-1 , Uk-1) wM,k-1 Increasing the number of layer will only increase the amount of
computation in this particular application. There has to be six
neurons in output layer (second layer) because there are six phases
The perfect measurement Zk of all the variables of a state Xk is of gait cycle in which we have to classify. But the selection of
simply a vector containing for each state variable, a variable that number of neurons in first layer is dependent on the output of
takes on the value of the corresponding state variable. Thus, in our classifier.
leg case, the measurement Zk is MATLAB is used to design the classifier. It gave a detailed look
Zk = ZA,k (4.16) on the use of MATLAB for neural network [12]. Design of this
ZM,k feed-forward network is shown in figure 5.1. It describes all the
connection between the neurons and the transfer function in each
layer. Training function used is ‘trainlm’, Adaptation learning
The measurement model is implemented in such a way that given function is ‘learngdm’ and performance function is ‘MSE’.
the state of a leg Xk it returns the measurement of the full state
sensor, as
Z k = h ( Xk )
Where h (.) function is the measurement function relating a state
to a measurement, and which in this case simply is

h ( Xk ) = h A ( Xk ) = XA,k (4.17)
h M ( Xk ) XM,k

Noise can be incorporated in measurement model as

Zk = h ( Xk ) + vk (4.18)

5. GAIT PHASE IDENTIFICATION
To apply the damping we are required to find out the current
phase of the leg out of six defined phases in previous section.
Based on this classified phase the control algorithm will select the
damping equation to generate damping coefficient. This phase
identification is most important because the required damping is
not constant over whole gait cycle. During the natural walk the
knee resistance varies over whole gait cycle.
Here neural network [11, 12, 13] is used to classify among six
phase. Knee angle, Knee moment/gait strain and knee angular
velocity are taken as input to the classifier. The output is one of
the six phases of the gait cycle. Knee angle and knee moment are
taken from sensor (after applying filtering) and knee angular
velocity is calculated as mentioned in section 4.2, equation 4.6.
Feed-forward back propagation type of neural network is used for
classification purpose. This classification is done through a
Figure 5.1. Design of gait phase classifier network
6. DAMPING PROFILE GENERATION
After identifying the phase in which the walker is in, the next task
is to apply appropriate damping for efficient walking. This control
algorithm takes information from the filtered data coming from
sensors. Now based on the phase of the gait and the sensor input,
the algorithm determines the required damping for the knee for
the duration of that phase only. Since the whole gait cycle is
divided into six phases. Therefore, six different damping patterns
have been identified for each phase. Each phase has its own
damping pattern which can be defined by separate damping
equations. These equations are as follows:

514 International Conference on Advances in Computing, Communications and Informatics (ICACCI-2012)

D1 (t) = [ abs ( M ( t ) ) * A ( t ) / abs ( V( t ) ) ] (1)
D2 ( t ) = [ abs ( M ( t ) ) * A ( t ) / abs ( V ( t ) ) ] (2)
D3 ( t ) = [ abs ( M ( t ) ) / ( abs ( V ( t ) ) * A ( t ) ) ] (3)
D4 ( t ) = [ A ( t ) / abs ( V ( t ) ) ] (4)
D5 ( t ) = [ 1 / abs ( V ( t ) ) ] (5)
D6 ( t ) = [ A ( t ) / abs ( V ( t ) ) ] (6)

Where D1 to D6 denotes the damping coefficient for phase 1 to

phase 6. M (t) is the Knee Moment at time t. A (t) is the Knee Figure 7.2. Error Plot for Knee Angle
angle at time t. V (t) is the Knee angular Velocity at time t. abs (.)
is a function which returns absolute value of its argument.

7. RESULTS AND DISCUSSIONS

The results for Kalman Filter are shown here using system and
measurement model with noise. In practice, the process noise
covariance and measurement noise covariance matrices might
change with each time step or measurement, however here we
assume they are constant. We are assuming here that there will be Figure 7.3. Knee Moments (True, Measured and Estimated)
variance of 4 degree and 0.2 N-m/kg for knee angle and knee
moment measurement respectively. Since the modeling of process
noise is very difficult so the process noise covariance is kept
unity.

Figure 7.4. Error Plot for Knee Moment

Now let’s analyze the behavior of Unscented Kalman Filter

applied for nonlinear system. Here all the four graphs figure 7.5 to
figure 7.8 are plotted as they were plotted for linear system.
Figure 7.1. Knee Angle (True, Measured and Estimated)

This graph shown in the figure 7.1 tells about the Kalman filter
behavior. Curve plotted by red line shows the knee angle value
calculated by process model. Curve plotted by green line shows
the value obtained from sensor reading. Curve plotted by blue line
shows the estimated value of knee angle and is final outcome.
Now let’s have a look at the error between actual value and
measured value and estimated value. Figure 7.2 shows this error
plot. It can be seen from figure 7.2 the red curve tells the
measurement error (difference between actual value and the value
from the sensor). The blue curve shows the estimation error
(difference between actual value and estimated value). So it is Figure 7.5. Knee Angle (True, Measured and estimated) using
clear from the figure that the estimated value is much closer to the UKF
actual value instead of measured reading from sensor. In the same
way the Kalman filter output for knee moment can also be
analyzed. Figure 7.3 gives the Knee moment estimated value and
figure 7.4 tells about the errors in measurement and estimation.
Let’s have a look at the graph of figure 7.3 then we will find out
that for stance phase it is producing nearly smooth result but for
swing phase it is showing a little variation. This is because of the
process model used for knee moment. Since this model is based
on data observation it is giving good result as compared to knee
angle estimation results.

Figure 7.6. Error Plot for Knee angle using UKF

International Conference on Advances in Computing, Communications and Informatics (ICACCI-2012) 515

 39.66 0.17 230.7692 3
43 0.17 237.4231 3
20.666 0.01 134.6154 3
22.5 0.03 179.5 3
45.833 0.14 250 4
49.5 0.11 217.9615 4
64.5 0.045 38.4615 4
64.5 0.045 0 4
Figure 7.7. Knee Moment (True, Measured and estimated) 64.5 0.04 19.2308 4
using UKF 59.5 0.07 166.9231 4
64 0.03 -45 5
63.33 0.02 -83.3462 5
42.5 -0.05 -250 5
39.5 -0.06 -243.6154 5
54.333 -0.02 -192.3077 5
36.166 -0.07 -288.4615 6
32 -0.09 -352.5385 6
27 -0.1 -269.2308 6
6.833 -0.26 -76.9231 6
Figure 7.8. Error Plot for Knee Moment using UKF

Calculation of damping values for different phases has already

Table 1. Training Dataset been discussed. If equations for their corresponding phases are
Gait Knee Angular applied then the damping profile will be like figure 7.9. From this
Knee Angle Phase figure one can easily infer that this damping profile fulfills our
strain velocity
8.833 -0.23 83.3462 1 requirement for normal walking. For phase 1, stance flexion,
damping starts increasing to support body weight and to restrict
9.833 -0.27 89.7308 1 the body from being fallen down. During phase 2 to support
11.166 -0.18 96.1538 1 stance extension the damping decreases. But at the end of stance
flexion there is a slight increase in damping so that the effect of
21.5 0.61 32.0385 1
sudden straightening can be avoided. Otherwise this sudden
21.666 0.62 12.8077 1 straightening effect deviates from normal gait. Preswing, phase 3,
21.833 0.63 6.4231 1 is the phase prior to swing phase. During this phase the knee
damping should be as low as possible to allow flexion of knee. So
15.333 0.17 115.3846 1 that it can achieve enough velocity to propel the body forward.
16.833 0.26 102.5769 1 During phase 4, swing flexion, knee reaches its maximum flexion.
So at that point the damping has to be such that to avoid flexion
21.833 0.58 -6.4231 2
beyond a limit. Then for the rest of the two phases the damping is
21.666 0.55 -19.2308 2 low to allow easy extension prosthetic knee. But at the end there
21.333 0.51 -32.0385 2 is a slight increment in damping to reduce the velocity.
17.333 0.15 -64.0769 2
16.5 0.11 -51.2692 2
16 0.06 -51.3077 2
9.833 -0.2 -19.2308 2
9.5 -0.22 -19.2308 2
9.333 -0.23 -6.4231 2
9.333 -0.25 6.4231 2
9.5 -0.25 12.8077 3
9.666 -0.27 25.6154 3
10.166 -0.27 32.0769 3 Figure 7.9. Damping Profile for Prosthetic Knee
37 0.16 217.6923 3

516 International Conference on Advances in Computing, Communications and Informatics (ICACCI-2012)


Figure 7.10. Classified Gait Phases
Now let’s analyze the results of gait phase neural network
classifier. Training data set of 42 samples from whole gait cycle
was provided for learning. Table 1 lists all the training samples.
Then we have used some test data to check the output of
classifier. We have checked this classifier at boundary conditions
i.e. at the boundary of two subsequent phases and it is classifying
them correctly. The network is designed with different
combinations of neurons and number of layers. First we tried with
two layer network with three neurons in first layer. Number of
neurons in output layer are kept fix i.e. six. But this shows only
50% classifier accuracy. Next network made was not able to
correctly classify between phase 1 and phase 3. It also has two
layers with four neurons in first layer. Then another network with
the same two layers and four neurons in first layer was designed.
This time logsig as transfer function was used instead of transig.
This works fine but fails at phase boundaries. Finally we tried
with five neurons in first layer having logsig as transfer function.
After training the network is set with its wait and bias values. The
MSE was 0.013. When we applied test data we got the results as
figure 7.10.
8. CONCLUSIONS AND FUTURE WORK
Results of Kalman filter for both knee angle and knee
moment/gait strain are displayed in figure 7.1 to figure 7.8. The
error plots definitely show that the filtered output is close to the
actual values. The plotted graph of filtered values follows nearly
the same curve as actual values. The only problem with the
Kalman filter is that the knee moment could not be modeled
perfectly. Since the system model generated the required
oscillations for knee moment is based on observed data. Error in
actual and estimated values could not be optimized as per our
expectations. But when we compare the graphs of knee moment
error for the linear system and the nonlinear system we find that
nonlinear implementation gives better results. Error is very well
minimized in UKF instead of linear one. To obtain the more
accurate results it is necessary to model the knee moment
accurately. The fact that only local mechanical sensors were
employed in the electronic knee in this investigation led to
dramatic limitations in the system ability to assess user intent.
Such prosthesis cannot determine whether a patient’s wishes to
turn to the right or to the left, or whether an obstacle could be
negotiated by the amputee. However the healthy leg and the thigh
stub, on which the prosthetic leg is fitted, can follow the patient’s
wishes to turn to the right or to the left, or to avoid obstacles. This
will compensate the above drawback. During this work only one
set of knee angle and knee moment data were used for testing and
result generation. More systematic data sets are required to be
captured and calculated since human walking pattern changes
slightly every time. It will also help Neural Network in learning
the slight variation during walk.
International Conference on Advances in Computing, Communications and Informatics (ICACCI-2012)
Till now our efforts have been to find out the damping for normal
walking sequence only. A strategy for fast walking leading to
running can be made by studying the period of oscillation of the
knee and the heel strike. The damping profile computed by ANN
will be shrunk or expended to match the period of oscillation. This
will enable a speed variance which will allow the patient to walk
at different speeds. Stair climbing will be a daunting task it will be
a difficult for the patient to achieve it without support. A
systematic study of the prosthetic limb has to be carried out in
different categories of patients. The patient will be categorized as
first by sex (male/female), height, weight and age and the duration
that the patient has been amputated. The duration is important
because the patient tends to forget his natural gait pattern. Healthy
subjects who have both legs should also be investigated by
externally fitting our sensors on them. The data on healthy subject
categorized by sex, height, weight and age will help us to
determine the natural damping profile. It has to be seen if the
natural damping profile can be fitted on a patient with a similar
category (sex, height, weight and age).
9. ACKNOWLEDGMENTS
We would like to thank to Dr. M.D. Tiwari, Director of IIIT-
Allahabad to bring this project from Department of Science of
Technology (DST), Govt. of India.
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