Group #5

SCHOOL OF MECHANICAL ENGINEERING AND

BUILDING SCIENCES

MEE3999 - Technical Answers for Real World Problems

CHAIRLESS CHAIR

Submitted by

Manigandan.R(16BME1161)
Sharran.B(16BME1023)
Safal Mohmmed (16BME1153)
Abhishek Kaimal(16BME1015)
Arvind.N(16BME1175)
Jishnu.P.R(16BME1033)
Nithin Pradeep.N (16BME1085)
 CERTIFICATE

This is to certify that the Project work entitled “CHAIRLESS CHAIR” submitted by the
following students for CAL in B.Tech, Technical Answers for Real life Problems(MEE3005)
is a record of bonafide work done under my supervision. The contents of this Project work
have not been submitted for any other CAL course.

Sl. No. Name Reg. Number Signature

1 Abhishek Kaimal 16BME1015
2 Sharran B 16BME1023
3 Jishnu P R 16BME1033
4 Nithin Pradeep N 16BME1085
5 Safal Mohmmed 16BME1153
6 Manigandan R 16BME1161
7 Arvind N 16BME1175

Name of the Guide Signature of the Guide with Date

Examiner 1 Examiner 2 Examiner 3

TABLE OF CONTENTS

1. Abstract…………………………………………………………….
2. Introduction…………………………………………………………

3. Future Scope……………………………………………………...

4. Related Work………………………………………………………

5. Problem Definition…………………………………………………

6. Field Survey………………………………………………………

7. Project Objective………………………………………………….

8. Methodology…………………………………………………….

9. Design…………………………………………………………….
9.1. Calculations……………………………………………………
9.2. CAD model…………………………………………………..
9.3. Ansys………………………………………………………..

10. Procurement of Material…………………………………………

11. Manufacturing…………………………………………………

12. Testing………………………………………………………..

13. Validation…………………………………………………….

14. Innovations…………………………………………………..

15. Design Specifications…………………………………………

16. Conclusion…………………………………………………….

17. Advantages………………………………………………………...

18. Reference…………………………………………………………..
 ABSTRACT
The project title is design and development of the lower body exoskeleton. It is a mechanical
product which is ergonomically designed around the shape and function of the human body,
with segments and joints corresponding to those of the person it is externally coupled with.
It's like a chair that isn't there, but magically appears whenever you need it. In industries, it is
known as the Chairless Chair and workers in industries can wear it on legs like an
exoskeleton. The purpose of our design revolves around the concept of enhancing the comfort
of human body through the use of a lower body exoskeleton. This exoskeleton system is
designed to be an appropriate mechanism with human lower extremity and it operates
synchronously with the human relays. The aim of this exoskeleton actuator system is to
provide forces against external load carried by user during walking, sitting, and standing
motions. Although lower body exoskeletons already exist in the market, they still have
shortcomings that prevent widespread use among the general public. Our method of
achieving our goal consists of splitting up into smaller groups; allowing us to complete work
more efficiently. The objectives of this project is to study, analyse, and develop a new
mechanism that assist the human locomotion, to learn in details about how the lower body
exoskeleton works and understand the concepts involved. The concept of this simple chair is
when it activates, you can walk normally or even run. This report serves the purpose of
designing and fabrication of Chair less chair as a project for Technical Answer for Real
World Problem under curriculum of Undergraduate degree.
 INTRODUCTION
Standing for some time is good for health, but only if you’ve not been forced to do it for
hours. Excessive sitting is also dangerous as it badly affects the body’s metabolic rate,
resulting in the risk of disease like high blood pressure, diabetes, cancer, depression, etc. In
workstations, main concerned is to enhance the productivity but very less concerned is given
to the effect of work fatigue on the worker’ s body. Even though the workplace is
ergonomically designed but, in fact, they are not successful in relieving worker fatigue since
most of the time they have to work for hours in a particular posture. Till now in the present
era of fast growing technology, workstations do not have a device which can provide comfort
to the worker. It is evident that sloping/kneeling chair preserves lordosis and sacral slope with
upright as well as slumped posture than a flat one; it results in less tissue strain which in turns
lowers back pain. So it is preferable to sit on a sloping chair than flat on. This means flexible
wearable chair provides better comfort than that of flat one for the same working posture.

Ergonomics is a branch of science that aims to learn about human abilities and limitations,
and then apply this learning to improve people’s interaction with products, systems and
environments. Ergonomics aims to improve workspaces and environments to minimize risk
of injury or harm. As technologies change, so too does the need to ensure that the tools we
access for work, rest and play are designed for our body’s requirements. Exoskeletons have
been constructed to assist human locomotion and provide medical rehabilitation. In
particular, the field of medical rehabilitation has utilized exoskeletons in an increasingly
effective manner, and several relatively compact powered exoskeletons for mobile
applications have recently been demonstrated, but the duration of usage is often limited due
to power constraints. A leg exoskeleton could benefit people who engage in load carrying by
increasing load capacity, lessening the likelihood of leg or back injury, improving metabolic
locomotory economy, or reducing the perceived level of difficulty.

To address this immense challenge researcher have incorporated the detection of the user’s
intent into the control of exoskeletons The ageing population is a global issue, and physical
deterioration and frailty in elderly people has become a socioeconomic problem in many
countries. Assisting elderly and dependent people by enhancing and strengthening movement
of the lower limbs has raised particular attention due to the considerably increasing rate of
this population, and exoskeletons are considered as one of the most potential assistive devices
for this enhancement. Exoskeletons may be able to treat the patient without the presence of
the therapist, enabling more frequent treatment and potentially reducing costs. The
application of engineering concepts to human movement control paved the way for rigorous
computational and neuroscientific analysis.

In order to guide robotic exoskeleton development, it is critical to identify principles of

human motor adaptation and to discover the parameters that affect the rate of motor
adaptation to the powered assistance. Other than that, many improvements are made and Exo-
Skeletons are used in many applications like Military, Medical, Rescue Operations.

A bilateral asymmetry in lower limb lengths is called leg length inequality (LLI), or
anisomelia. During locomotion the lower extremity joint stresses are further increased by the
muscle activity required to control the segments, by inertial forces developed by the moving
segments, and by the impulsive force applied to the foot at ground contact. When the subject
stands with the hip vertically above the ankle and when the upper and lower parts of the leg
are about equally long, it holds for the ankle angle. The human leg, in the general sense, is the
entire lower extremity or limb of the human body, including the foot, thigh and even the hip
or gluteus region; however, the definition in human anatomy refer only to the section of the
lower limb extending from the knee to the ankle. Legs are used for standing, walking,
jumping, running, kicking, and dancing and similar activities, and constitute a significant

The primary goal of the venture is to lessen weariness because of consistent standing stance
amid working hours and increment working proficiency of client, and henceforth venture has
some more destinations. To give legitimate working condition without interfering with work
process. Decrease weight of seat. Decrease cost and multifaceted nature of system and make
framework as straightforward as conceivable to utilize. The innovation of hydraulics has
increased colossal significance in the field of work environment justification and robotization
from out-dated timber works and coal mines to present day machine shops and space robots.
Certain qualities of packed liquids have made this medium very appropriate for utilized as a
part of current assembling and generation enterprises. It is in this way vital that specialists
and architects ought to have decent information of pneumatic framework, air worked valves
and embellishments. A hydraulic framework comprises of a compressed liquid, pipe lines,
control valves, drive individuals and related helper apparatuses. To keep up ideal
effectiveness of hydraulic framework, it is of key significance that weight drop amongst age
and utilization of compacted liquid is kept low.

Also types of Exoskeleton is of great interest when defining the project. Exoskeletons are of
two types:

a) Active Exoskeletons

b) Passive Exoskeletons

Active Exoskeletons:

They are powered by external sources like a motor, battery powered etc. They work along
with the passive exoskeletons to help in its functioning.

Passive Exoskeletons:

These are not powered by external power sources but work on the basis of mechanical
linkages, pneumatic and hydraulic mechanisms, spring-controlled devices etc. Since active
exoskeletons pose a restriction to the amount of external energy that can be supplied in terms
of quantity, quality and time we have focused purely on passive type of exoskeletons. Passive
elements are implemented in the exoskeleton to either store or dissipate energy with the
objective of reducing the residual energy that the human would have to expend for
locomotion. The problem is defined in the following way. At the point when the labourer or
any individual needs to remain for long day and age constantly (over 8 hours ) his/her
working proficiency diminished and its profitability abatements to lessened weakness and
expanded human efficiency we are going to grew such exoskeleton seat which enable used to
take a site anyplace without interfering with its working condition.

Henceforth our plan is reasonable and uncommonly intended for the general population at
various sequential construction system work due to this course of action people groups felt
loose who were experiencing the back agony and spinal string ailments. The plan venture is a
win in view of tilting gadget. It decreased body weariness and expanded the workability of
the individual in the available time and in addition in the business places.

In this project we have focused on making the design simple with emphasis on reducing the
cost so that it will be affordable for all, including workers and patients with leg injuries. The
use of ‘Chairless Chair’ is likely to bring down the cases of Musculoskeletal Disorders
which develops in workers indulged in prolonged standing conditions. Chairless chair
exoskeleton also offers the possibility to:

 Support injured workers to return to work faster

 Reduce, if not, eliminate the need for microbreaks, rotation of workers among tasks,
and other inefficient practices
 Give a wider range of employees (such as older or smaller workers) the ability
performs tasks safely In the present work, a prototype of this chair has been
developed. A chairless chair can be a good product which will ultimately enhance
productivity at the workplace across various industries.
 FUTURE SCOPE
The fundamental activity of this machine to decrease exhaustion by supporting the heaviness
of the wearer in a comparative form as that by a general seat as your leg shortcoming
advances because of expanding in your age, your medicinal services group may prescribe
gear known as ambulation helps and propping to help you with strolling. Different gadgets
can help give you required help as the muscles in your neck and arms debilitate. There might
be an utilization of such exoskeletons which can give more impact than supports and
ambulation helps. The particular guide or gadget that is best for you relies upon the degree of
the shortcoming and your eagerness to utilize such a gadget. Utilizing such instruments for
strolling climbing, doing work is protected and you're sure that you won't fall. For a few, this
implies having a chaperon or utilizing an assistive importantly the confidence Apart from in
medical therapy also, military division, dynamic or hoses or exoskeletons offer different
applications, for instance as a power sponsor amid get together work underway. They act here
as a quality help gadget to avoid indications of weariness that happen particularly when
performing redundant activities.

The Chairless Chair is designed for manufacturing workers, particularly those who have
to move frequently and hold awkward postures. Workers wear the device as they move
from task to task, and when they need to crouch, squat, or sit, a small switch locks the
device at the knees. Small knobs at the heels take weight off of worker’s knees, helping
reduce physical strain. Such relief could lead to fewer missed work days and better long-
term worker health.
 RELATED WORK
Workers in workshops and industries need to undergo several sitting and standing postures
for long hours depending on their work load. We came across a worker in a local
manufacturing industry. He mentioned that he suffers from severe muscle pain every day
after his work. So, as a remedy to reduce muscle stress and to work freely, providing a
support below the hip was a solution. Finally, we heard about an exoskeleton support that can
be provided to the body as a support while doing work. Several Journals were published
related to this topic earlier.

Noonee, a swiss start-up introduced the chairless chair for BMW and Audi in the year 2015.
It’s working was controlled by mechatronics system. H. Zurina and A. Fatinhas worked on
the Design and Development of Lower Body Exoskeleton. Aditya Bhalerao and
SandeshKamblehave worked on the Pneu portable chair for employees to seat while working.
Apart from that our chairless chair is based on simple link mechanism and does not require
any battery or power for successful working and is manually controlled. So this make it
acceptable and affordable for every common people.
 PROBLEM DEFINITION
At the point when the labourer or any individual needs to remain for long day and age
constantly (over 8 hours ) his/her working proficiency diminished and its profitability
abatements to lessened weakness and expanded human efficiency we are going to grew such
exoskeleton seat which enable used to take a site anyplace without interfering with its
working condition.
 FIELD SURVEY
Given, the industrial workers are the mostly targeted customers to this product, we put out a
google form sheet with different questions to observe the various comments and how they
saw our idea.

Link: https://docs.google.com/forms/d/1BqLl-
GBAiluZniXmCixopnzXqMkiPX3t3Mxz5OWgY7o

A glimpse of some of the various relevant questions with the responses are added below.
 PROJECT OBJECTIVE
In industries, the motivation behind this research involves helping workers to more
effectively exercise to mitigate the effects of microgravity on bones and muscles. There is an
unavailability of seat when we want to sit anywhere and anytime. It is often difficult to
provide seating equipment for all workers in cramped spaces like warehouses and long hours
of standing are often detrimental to health. Available robotics locomotion has big issue of
energy efficiency. The Portable Chair is like a mobile exoskeleton that allows people to sit
anywhere. The CCES uses a dynamic model of the musculoskeletal system of the lower leg
combined with the dynamics from a gas damper to provide resistive forces to the muscle
forces. Objective of this project into design the exoskeleton assistive device which allow for
normal movement like walking and running when we wear it.

The primary goal of the venture is to lessen weariness because of consistent standing stance
amid working hours and increment working proficiency of client, and henceforth venture has
some more destinations.

To give legitimate working condition without interfering with work process.

Decrease weight of seat.

Decrease cost and multifaceted nature of system& make framework as straightforward as

conceivable to utilize.

Put in short

 Decrease difficulty of long-time same posture works

 Decrease the muscle related injuries.

 Increase the efficiency of workers by providing suitable work condition

 Increase the productivity

Since we are having our main focus on productivity it is obvious to know why productivity is
important, Productivity is the measure of efficiency of a person or a machine or a factory in
converting inputs into useful outputs. It is the ratio of the actual output produced to the actual
input. Worker’s efficiency is an important aspect in productivity. So, increasing the
efficiency of worker is a way to increase the productivity in an industry. A worker’s
efficiency can be increased by providing him with a better working condition, providing him
incentives and extra pay for extra works. For doing the extra work the productivity of the
individual was unmatched in the department so we decided to keep him during lay-offs. If
there is any device which help him to reduce the workload or working condition in any way,
his efficiency can be increased, hence, productivity also increases.
 METHODOLOGY
Methodology includes the method to achieve the final objectives of project. Following
are some method or sequence of activities used in project to achieve final objectives.

Critical Thinking

Design of the system

Manufacturing and testing

Conclusion
 DESIGN

CALCULATIONS

Stress Calculation

Investigation and some calculation are done before starting to design the product. The
calculation is done to identify the accurate position to place the damper on main body with
the required angle. Finite element analysis is also done to find the maximum weight that the
product can accommodate. Calculation involved is calculation on the stress of the aluminium
rod:

At 90 degree:

Link2=42+72-2(4)(7)cos90= 8.06

σ =F/A

Where, F = Force applied on the seat 2

A = Area on which force is acting

F = mg = (50)(9.81) = 981 N

A= (π D²)/4 = π (0.02)²]/4 = 1.373 × 10^4 m²

Σ M = 0 *Assume clockwise direction is positive

(490.5 cos 30) (0.4) + (F cos 30) (0.2) = 0

49.22 + 0.1 FD = 0

FD = (- 49.22) / (0.1)

FD = - 490.2 N (downward motion)

σ FD = F/A = 490.5/ 1.373 × 10^4 = 3.56 MPa

At 130 degrees:

Link2=4.52+15.52-2(4.5)(15.5)cos135= 10.04

σ =F/A
Where, F = mg = (50)(9.81) = 981 N

A= (π D²)/4 = π (0.02)²]/4 = 1.373 × 10^4 m²

Σ M = 0 *Assume clockwise direction is positive

(490.5 cos 60) (0.4) + (F cos 60) (0.2) = 0 98.22 + 0.1 FD = 0

FD = (- 98.22) / (0.1)

FD = - 982.2 N (downward motion)

σ FD = F/A = 982.2 / 1.373 × 10^4 = 7.28 MPa

From the calculations, we can determine the angle of system and maximum stress which is
exerted on the product as tabulated as below:

Angle (°) Stress, σ (MPa)

90 3.56
130 7.28

Calculation for loads on Cylinder

For 100 kg weight of worker, the average percentage of weight for each body part is as
follows;

Trunk (chest, back and abdomen) = 50.80% of total body weight =50.80/100 ∗ 80 = 50.8kg

Thigh = 9.88% of total body weight =9.88/100 ∗ 100 = 9.88kg

Head = 7.30% of total body weight = 7.30/100 ∗ 100 = 7.30 kg

Lower leg = 4.65% of total body weight= 4.65/100 ∗ 100 = 4.65 kg

Upper arm = 2.7% of total body weight= 2.7/100 ∗ 100 = 2.7kg

Fore arm = 1.80% of total body weight= 1.80/100 ∗ 100 = 1. 8 kg

Foot = 1.45% of total body weight= 1.45/100 ∗ 100 = 1.45 kg

Hand = 0.66% of total body weight= 0.66/100 ∗ 100 = 0.66 kg

Total arm = 4.3/100 ∗ 100 = 4.3 kg

Total effective weight on chair

Total effective weight of parts of body acting on chair = weight of head + weight of trunk
(chest, back and abdomen) + weight of two thigh + weight of two arms + weight of hand

Therefore, Total weight = 7.30+50.8+2*9.88+2*4.5+0.66 = 87.52

We have use two supports.

Therefore, Force distributed in two supports = total weight/2 = 43.76

By Newton’s second law of motion,

Weight force = Mass * Acceleration due to gravity

F = m * g, F = 43.76* 9.81

F = 429.2856 N

CAD MODEL
 PROCUREMENT OF MATERIAL
The mechanism can be portable if its lightweight. The mechanism requires High Specific
strength materials. Making of the exoskeleton need high strength material. Some of the
commonly available materials that are near to ideal for the process by not forgetting the
parameters of cost are:

1. Steel
2. Aluminium
3. Carbon Fibre
The following parameters were considered for choosing one among the others.

Stainless Steel Mild Steel Aluminium Carbon fibre

Strength High Moderately Lesser than Higher than SS
High MS (by 8-10 times)
Weight High Moderate Low 1.5 times lighter
than Al
Hardness Very Hard Less Hard Less than MS Hard
Brittle/Ductile Ductile Ductile Brittle Brittle
Young’s Modulus 190Gpa 200GPa 70Gpa 228GPa
Corrosion Resistance Very less Very High Very Less No Corrosion
Cost More Cheap Cheaper than Very Expensive
Expensive SS

The top priority is Weight. This means Aluminium and Carbon Fibre rules out Stainless Steel
and Mild Steel. The second priority is cost and due to the high cost of Carbon Fibre,
Aluminium is the ideal material for the project.

Two gas springs are used. As mentioned earlier, these pistons carry the weight from the upper
part to the lower part, and while this weight is applied, the damper goes all the way down and
makes sure that the angle does not go more than 90 degrees. We have selected gas springs
that can carry a weight of 50kgs per, so that in effect we will be able to carry a weight of 100
kgs.

The next material that we require is the Velcro and the belt that holds the whole exoskeleton
to the body. We selected the Velcro and belts with best features and at competitive price at
the market.
 MANUFACTURING

After drawing of CAD model of required system, all components are assembled at desired
positions.
 TESTING AND ANALYSIS

After assembly we have to go for testing and analysis using Ansys software, for required
different loading condition, dimensions and materials.
 VALIDATION

Than we have to test the model by seating number of people having different weight in order
to check the sustainability of actual model.
 WORKING OF THE SUSPENSION
The innovation of pneumatics has increased colossal significance in the field of work
environment justification and robotization from out-dated timber works and coal mines to
present day machine shops and space robots. Certain qualities of packed air have made this
medium very appropriate for utilized as a part of current assembling and generation
enterprises. The suspension system comprises of a compressor, pipe lines, control valves. The
air is compacted in an air compressor. To keep up ideal effectiveness of pneumatic
framework, it is of key significance that weight drop amongst age and utilization of
compacted air is kept low.
 DESIGN SPECIFICATIONS
Thigh support:

The thigh support takes most of the weight on the first impact to sit. Its
dimensions should be higher so that it could take the impact safely.

Length: 530 mm

Width: 63 mm

Calf support:

The calf support takes the major stress when the person is sitting on the chair,
as it should handle the weight in that position.

Length: 430 mm

Width: 63 mm

It is to be noted that these dimensions are for single leg, the dimension of second leg is
identical to the first one
 CONCLUSION
Henceforth our plan is reasonable and uncommonly intended for the general population at
various sequential construction system work Due to this course of action people groups felt
loose who were experiencing the back agony and spinal string ailments. The plan venture is a
win in view of tilting gadget. It decreased body weariness and expanded the workability of
the individual in the available time and in addition in the business places.
 ADVANTAGES
The main advantage of this chairless is that it is portable. It can be carried anywhere easily
by keeping in a bag. The user can even walk to some distance chairless chair attached to their
legs. So that the user doesn’t need to detach the exoskeleton every time he moves from one
place to another. Next, it is proven to be suitable with a range of height up to 183cm. In
addition, our prototype offer user to comfort themselves with three levels of degree
depending on their comfort level. This can help user to do their work with high serenity
compared to chair with constant degree because some work not require the user to be seated
but if its longing for a long time, it might be a problem to their muscle or having leg cramp,
therefore, this is where chairless chair play an important role.
REFERENCE