“SLIDER REVIVE” - INNOVATING MOBILITY

REHABILITATION PHYSIOTHERAPY DEVICE

Dissertation submitted
in partial fulfillment for requirements
for the award of degree of

Bachelor of Technology
in
Mechanical Engineering (Robotics)
by
CH. JAYA SAI MANIKANTA 20131A5313
G. PALLAVI 20131A5319
B. NIHARIKA 20131A5306
I. MANIKANTA 20131A5323

Under the guidance of

Dr. P. KRISHNA KIRAN
Assistant Professor
Department of Mechanical Engineering

Department of Mechanical Engineering (Robotics)

GAYATRI VIDYA PARISHAD COLLEGE OF ENGINEERING
(AUTONOMOUS)
(Affiliated to J. N. T. University, Kakinada)
VISAKHAPATNAM-530048
2021-24
 DECLARATION

We hereby declare that the project entitled " SLIDER REVIVE -

INNOVATING MOBILITY REHABILITATION PHYSIOTHERAPY

DEVICE" submitted by us, for the award of the Degree of Bachelor of

Technology in Mechanical Engineering to Gayatri Vidya Parishad College

of Engineering (A) is a bonafide record of our work carried out under the

supervision of Dr. P. Krishna Kiran.

We further declare that the work reported in this project has not been

submitted and will not be submitted, either in part or in full, for the award

of any other degree or diploma in this institute or any other institute or

university.
 CERTIFICATE

This is to certify that the project titled " INNOVATING MOBILITY

REHABILITATION PHYSIOTHERAPY DEVICE" is a bonafide record of

the work done by

CH. JAYA SAI MANIKANTA 20131A5313

G. PALLAVI 20131A5319
B. NIHARIKA 20131A5306
I. MANIKANTA 20131A5323

in partial fulfillment of the requirements for the award of the degree of

BACHELOR OF TECHNOLOGY IN MECHANICAL

ENGINEERING of Gayatri Vidya Parishad College of Engineering

(Autonomous) affiliated to Jawaharlal Nehru Technological University,

Kakinada during the year 2021-24.

Project Guide Head of the Department

Dr. P. Krishna Kiran Dr. B. Govinda Rao

Assistant Professor, Professor and HOD,
Dept. of Mechanical Engineering Dept. of Mechanical Engineering

Project Viva – Voice held on

External Examiner
 ACKNOWLEDGEMENT

It is with a sense of great respect and gratitude that we express our sincere
thanks to Dr. P. Krishna Kiran, Assistant Professor, Department of
Mechanical Engineering. Gayatri Vidya Parishad College of Engineering
(A) for her inspiring guidance, supervision, and encouragement towards the
successful completion of our project work.

We take this opportunity to thank Dr. B. Govinda Rao, Professor and Head
of the Department of Mechanical Engineering, for permitting us to pursue
the project work.

We express our sincere thanks to Dr. A. B. Koteswara Rao, Principal,

Gayatri Vidya Parishad College of Engineering (A) for granting permission
for providing all the necessary resources for completing this project.

We wish to express our appreciation and heartful thanks to our parents who
supported us towards our goals and we would like to thank our friends,
who have helped us and inspired us in odd and even hours for the
successful completion of project work.

Last but not the least, we would like to convey special thanks to all those
to who have helped either directly or indirectly for the completion of
project work.
 ABSTRACT

The field of physiotherapy continually seeks innovative solutions to

enhance mobility rehabilitation outcomes for individuals recovering from
injuries or seeking to improve their physical capabilities. This project
focuses on the design and development of an physiotherapy device aimed
at revolutionizing traditional rehabilitation methods. A cutting-edge
physiotherapic device, named "SliderRevive," designed to enhance
rehabilitation through the incorporation of a slider-crank mechanism. The
SliderRevive leverages the principles of mechanical engineering to provide
targeted and controlled movements, optimizing the therapeutic experience
for individuals undergoing physiotherapy. The prototype integrates various
components, including connecting rods, sliders, a base, threaded rods, a
crank, and a footrest, to implement a sophisticated mechanism based on the
slider-crank mechanism. The slider-crank mechanism serves as the
fundamental principle driving the motion of the physiotherapy device. In
this mechanism, the crank, attached to a rotational actuator, converts rotary
motion into reciprocating linear motion. The connecting rod connects the
crank to the slider, allowing the latter to move back and forth along a path.
Furthermore, the scale model prototype serves as a valuable tool for
iterative design refinement and optimization. By evaluating the prototype's
performance and ergonomics, insights are gained to inform the
development of the full-scale physiotherapy device.
 CONTENTS

DECLARATION………………………………………………………..
CERTIFICATE
ACKNOWLEDGEMENT
ABSTRACT
Chapter-1
INTRODUCTION
1.1 LEG REHABILITATION 1
1.1.1 LEG EXTENSIONS 2
1.1.2 KNEE RANGE OF MOTION 4
1.2 KEY CONSIDERATIONS FOR EFFECTIVE LEG REHABILITATION 4
1.3 SCOPE OF WORK 5

Chapter 2
THEORY AND LITERATURE REVIEW 6
2.1.GENERAL 6
2.2.AIR POLLUTION 6
2.3.CRITERIA AIR POLLUTANTS 7
2.3.1 SULFUR DIOXIDE (SO2) 7
2.3.2 NITROGEN OXIDES (NOx) 7
2.3.3 PARTICULATE MATTER(PM 10) 8
2.3.4 AMMONIA (NH3) 9
2.4.NATIONAL AMBIENT AIR QUALITY STANDARDS (NAAQS) 9
2.5.AIR QUALITY MONITORING IN INDIA 11
2.6 AIR QUALITY INDEX (AQI) 12
2.6.1 GREEN INDEX (GI) 13
2.6.2 FENSTOCK AIR QUALITY INDEX 14
2.6.3 ONTARIO AIR POLLUTION INDEX 14
2.6.4 OAK RIDGE AIR QUALITY INDEX (ORAQI) 15
2.6.5 GREATER VANCOUVER AIR QUALITY INDEX (GVAQI)
2.6.6 MOST UNDESIRABLE RESPIRABLE CONTAMINANTS INDEX
(MURC) 16
2.6.7 MAXIMUM OPERATOR FUNCTION METHOD 17
 2.6.8 USEPA METHOD 18
2.6.9 INDIAN AIR QUALITY INDEX (IND-AQI) 19
2.7.LITERATURE REVIEW 21
2.8.CONCLUSION
Chapter-3
METHODOLOGY 28
3.1.GENERAL 28
3.2.DEMOGRAPHY OF RAJAMAHENDRAVARAM CITY 28
3.2.1 Air Pollution Monitoring in Rajamahendravaram City 28
3.2.1.1 Traffic information of Rajamahendravaram city 29
3.2.1.2 Industrial activity of Rajamahendravaram city 29
3.2.1.3 Commercial establishments of Rajamahendravaram city 29
3.3 DEMOGRAPHY OF ELURU CITY 30
3.3.1 Air Pollution Monitoring in Eluru City 30
3.3.1.1 Commercial establishments of Eluru city 31
3.3.1.2 Vehicular data of Eluru city 31
3.3.1.3 Industrial data of Eluru city 31
3.4 AQI METHODOLOGY 31
3.4.1.Indian Air Quality Index (IND-AQI) 32
3.4.1.1 Sub index of IND AQI method 32
3.4.2.Aggregation of Sub-Indices of IND AQI Method 32
3.4.2.1. Weighted additive form 33
3.4.2.2 Root-mean-square form 33
3.4.2.3. Min or Max operator (Ott 1978) 33
3.4.3.Model Calculation of IND AQI Method 33
3.5.MAXIMUM OPERATOR FUNCTION METHOD 35
3.5.1.Model Calculation of Maximum Operator Function Method 35
3.6.OAK RIDGE AIR QUALITY INDEX (ORAQI) 37
3.6.1. Model Calculation of OAK RIDGE Air Quality Index 37
3.7.CONCLUSION 38

Chapter-4
RESULTS AND DISCUSSION 39
4.1.GENERAL 39
 4.2 SEASONAL VARIATIONS OF AQI 39
4.2.1.Seasonal Variations of AQI in Rajamahendravaram City 39
4.2.1.1 Seasonal Variations of Ambient AQI in AP Paper Mill area,
Rajamahendravaram 39
4.2.1.2 Seasonal Variations of Ambient AQI in Anam Kalakendram area 43
4.2.1.3 Seasonal Variations of Ambient AQI in Gail office Rajamahendravaram.
47
4.2.1.4 Seasonal Variations of Ambient AQI in District Hospital area
Rajamahendravaram 51
4.2.1.5 Seasonal Variations of Ambient AQI in APEPDCL Office area 54
4.2.2 Seasonal Variations of Ambient AQI in Eluru City 57
4.2.2.1 Seasonal Variations of Ambient AQI in Ashramam Area, Eluru City 57
4.2.2.2 Seasonal Variations of Ambient AQI in District Hospital Area, Eluru City
60
4.2.2.3 Seasonal Variations of Ambient AQI in Industrial Park Area, Eluru City 63
4.2.2.4 Seasonal Variations of Ambient AQI in Paidichintapadu Village, Eluru
City 66

Chapter-5
SUMMARY AND CONCLUSION 70
5.1. SUMMARY 70
5.2 CONCLUSIONS 70
Chapter-6
REFERENCES

1 Introduction
Physiotherapy, also known as physical therapy, is a branch of healthcare that focuses on
improving movement and function in individuals who are affected by injury, illness, or
disability. It is a holistic approach to rehabilitation that aims to optimize physical well-
being and enhance quality of life. Physiotherapy encompasses a wide range of treatment
techniques and modalities, including exercise therapy, manual therapy, electrotherapy,
and education on posture and body mechanics. These interventions are tailored to
address specific impairments, restore mobility, reduce pain, and promote overall
recovery.
list of injuries that can affect mobility in the legs and can be improved through
physiotherapy:
1. Fractures (e.g., femur, tibia, fibula)
2. Muscle strains and tears (e.g., hamstring strain, quadriceps tear)
3. Ligament sprains (e.g., ACL sprain)
4. Patellofemoral pain syndrome (Runner's knee)
.
Table 1.1 Physiotherapy: Age-Specific Interventions

Age group Introduction to physiotherapy

Focuses on promoting healthy development and addressing any
motor delays or conditions such as torticollis or developmental
Infants
dysplasia of the hip (DDH)
Aims to improve motor skills, coordination, and strength, addressing
conditions like cerebral palsy, muscular dystrophy, and
Children
developmental delays.
Focuses on sports injury prevention, rehabilitation from injuries like
sprains and strains, and management of conditions like scoliosis or
Adolescents
Osgood-Schlatter disease.
Encompasses a wide range of issues including rehabilitation from
orthopedic injuries, management of chronic pain conditions, and
Adults
recovery from surgeries such as joint replacements
Focuses on maintaining mobility, improving balance and
coordination to prevent falls, managing age-related conditions like
Seniors
osteoarthritis, and promoting overall functional independence.

1.1 Leg Rehabilitation

Leg rehabilitation is a vital process aimed at restoring function and strength to the knee
joint following injury or surgery. By addressing pain, improving range of motion, and
increasing muscle strength and stability, rehabilitation helps individuals regain mobility
and return to their daily activities.
In leg rehabilitation, warm-up exercises are crucial to prepare the muscles, joints, and
tissues for more intense activity. They help increase blood flow, improve flexibility, and
reduce the risk of injury. Here are some common types of warm-up exercises used in leg
rehabilitation:

1. Joint Mobilization Exercises: These exercises involve gentle movements of the

joints to increase their range of motion and reduce stiffness. Examples include
ankle circles, knee bends, and knee extensions.
2. Dynamic Stretching: Dynamic stretching involves moving the muscles and
joints through their full range of motion in a controlled manner. Leg swings, leg
kicks, and walking lunges, hip rotations are examples of dynamic stretching
exercises that can be included in a warm-up routine.

Figure. 1.1 types of warmup exercises in rehabilitation, source: google images

1.1.1 Leg Extension
Leg extension exercises are fundamental components of rehabilitation programs aimed
at restoring strength and functionality to the lower extremities. Targeting the quadriceps
muscles, these exercises play a crucial role in improving knee stability, enhancing
mobility, and facilitating activities of daily living. By isolating and strengthening
specific muscle groups, leg extensions help individuals recover from injuries, surgeries,
or chronic conditions affecting the lower limbs. When integrated into a comprehensive
rehabilitation regimen, leg extensions contribute significantly to the overall success of
the rehabilitation process.

Figure. 1.2 Knee Extension, source: google images

This is a more advanced leg exercise for stroke patients and it requires significant
mobility in your leg. If you can’t do this movement at first, don’t be discouraged. Even
attempting part of the motion can be beneficial and is a great place to start. Begin the
exercise from a seated position. Extend your left leg out, straightening your knee until
your leg is parallel to the floor. Then, slowly bring your foot back down to the floor by
allowing your knee to bend in a slow, controlled manner. Then repeat with your right
leg, alternating back and forth between your right and left legs. As you become
stronger, you can add an ankle weight to increase resistance during this exercise. These
exercises are typically performed using a leg extension machine, which involves sitting
with the knees bent and lifting a weight by extending the legs against resistance.
Alternatively, resistance bands or ankle weights can be used for home workouts.
1.1.2 Knee Range of Motion

Knee's range of motion (ROM) significantly impacts your ability to participate in

various activities, both post-surgery and throughout your lifetime. It's crucial to monitor
and improve your ROM for optimal functionality. ROM consists of extension
(straightening the leg) and flexion (bending the leg), with an ideal range from 0º
extension to 130º flexion. Some prostheses may have a slightly shorter range, which is
acceptable. Understanding your ROM enables you to assess your potential engagement
in activities, although it doesn't solely indicate your strength capacity.

Table 1.2 Sample Activities with Required ROM

Activity Required ROM

∘
Walk without a limp 70

∘
Safely climb the stairs 83

∘
Get up from a chair 90

∘
Ride abike 115

∘
Garden 117

∘
squat 125

ROM (Extension and Flexion)

Range of motion is a composite parameter. It is made up of extension (the ability to

straighten your leg) and flexion, the ability to bend your leg. When we put the two
together we get your range of motion. Ideally, this should be from 0º extension
(completely straight leg) to 130º, a fully flexed leg. Some prostheses stop a little short
of 130, and that is okay.
 Figure 1.3 Degrees of full extension and flexion, source: google images

Knee extension is important for two critical reasons:

1) if you don’t have full extension, you are much more likely to fall, falling is one of the
most dangerous things you can do.
2) if your legs cannot go completely straight then your quadriceps muscles are always
activated and tire very quickly, limiting what you can do.
Knee Flexion is important because it is the primary determinant of what you can do. For
example, you must be able to bend your leg so your feet are underneath a chair to stand
up from the chair without using the chair’s arms.

Gaining a good ROM of over 90 degrees within the first few weeks of rehabilitation is
crucial, as it sets the stage for rapid progress in regaining full range of motion. Early
achievement of this milestone not only indicates successful healing but also facilitates
further improvement.

By diligently following your rehabilitation program and focusing on achieving and

maintaining optimal ROM, you pave the way for enhanced mobility and function in the
long term.
1.2 Key Considerations for Effective Leg Rehabilitation
Do's:
 Listen to the knee for pain and swelling feedback.
 Isolate quadriceps with leg extensions for ACL rehab.
 Introduce low-impact loading before walking.
 Implement proper strength training for quadriceps, hamstrings, glutes, and
calves.
 Conduct return-to-play testing, ensuring >90% on hop and strength tests.
Don'ts:

 Don't Ignore Pain, Overdo It.

 Don't Skip Warm-Up and Cool-Down.

 Don't Neglect Proper Form, Don't Rush the Recovery Process.

 Don't Disregard Safety Precautions.

 Don't Neglect Nutrition and Hydration.

1.3 Rehabilitation Phases

1. Protection Phase: During the initial Protection Phase, lasting two to four days,
the primary goal is to rest and protect the injured area. Traditional RICER (Rest,
Ice, Compression, Elevation, Referral) or preferred METH (Movement,
Elevation, Traction, Heat) methods are employed, depending on the injury.

2. Repair Phase: Moving into the Repair Phase, which typically spans up to six
weeks post-injury, the body begins laying down new scar tissue. While
inflammation and swelling still require attention, more active treatment can
commence. This phase involves physiotherapy and appropriate exercises, such
as light weight training for muscle injuries or gradually increasing weight
bearing for lower limb injuries.

3. Remodelling Phase: The Remodelling Phase follows, lasting between six weeks
and three months post-injury. During this stage, the body begins to teach scar
 tissue to behave like the tissue it replaced. Strengthening exercises are
intensified by the physiotherapist to improve range of motion, strength, balance,
flexibility, and joint stability.

2 LITERATURE REVIEW
Yunlong Yang et al. [1] introduces a lower-limb rehabilitation robot (LLRR) designed
to overcome the limitations of existing bulky and misaligned LLRRs. Featuring
portability and compliance, the robot comprises an underactuated mechanism and a crus
linkage for hip and knee joints, respectively. Utilizing contractible slider cranks to
minimize misalignments, the underactuated mechanism is optimized via particle swarm
optimization. Kinematic analysis, simplified as a two-link mechanism, facilitates
trajectory planning using the modified Denavit–Hartenberg method. Passive exercise
trials validate minimal mismatch angles (<2.1% of range of motion), confirming
feasibility. Existing LLRR challenges, including misalignments and limited
applicability in stroke and postoperative rehabilitation, are addressed. The paper
emphasizes the need for compliant components and self-aligning mechanisms,
especially in sitting/lying LLRRs, and highlights the significance of home-based
rehabilitation and post-knee arthroplasty solutions.

S. Krishnakumar et al. [2] addresses the automatic physiotherapy machine emerges as a

promising solution for addressing the rehabilitation needs of leg fractured patients,
particularly children. The incorporation of automatic stretching and folding features,
controlled by a microcontroller, along with essential safety measures such as the master
control safety switch and emergency switch, underscores the focus on patient
convenience and safety. This innovation not only has the potential to alleviate the
workload of physiotherapists but also holds promise in improving rehabilitation
outcomes. Moreover, the possibility of further validation and refinement of this
technology suggests its potential for widespread adoption in various clinical and home
settings, thereby benefiting patients across different age groups suffering from leg
fractures and paralysis. Overall, this research signals a significant advancement in the
field of rehabilitation engineering, paving the way for enhanced patient care and
potentially shorter rehabilitation times.
Araceli Zapatero-Gutiérrez et al. [3] proposed that approach to the mechanical redesign
of a finger rehabilitation device using a slider-crank mechanism. By recording real
finger motion trajectories and formulating the rehabilitation device's mechanism as a
trajectory generation problem, the study focuses on optimal synthesis using a genetic
algorithm (GA). The optimization criteria aim to minimize error between real and
device-generated trajectories, enhancing rehabilitation effectiveness. The proposed
methodology integrates kinematic analysis, motion capture data, and GA optimization
to refine the device's design for improved portability and trajectory accuracy. The
optimized prototype offers potential advantages over existing devices, with a smaller
workspace requirement and better trajectory alignment, promising enhanced
rehabilitation outcomes for finger injuries.

Raymond WJG Ostelo et al. [4] stated sciatica refers specifically to pain radiating down
from the buttock along the lumbosacral nerve roots. The prevalence and incidence of
sciatica vary widely, influenced by factors such as definitions and data collection
methods. Economic burdens associated with sciatica are significant but less extensively
studied compared to low back pain. A comprehensive approach combining history,
physical examination, and exclusion of serious pathologies is crucial in diagnosing and
managing sciatica. recommendations regarding exercise therapy and spinal manual
therapy (SMT) for sciatica. It highlights the variation in recommendations among
clinical guidelines, with the Danish multidisciplinary guidelines suggesting supervised
exercises as an addition to usual care, while the Dutch guidelines for general
practitioners recommend exercise therapy after 6 to 8 weeks of persistent complaints.
Moreover, it discusses the use of spinal manual therapy, encompassing mobilization and
manipulation techniques, for improving spinal joint motion or function.

Inese Pontaga et al. [5] aimed to determine the torque ratio between hip and knee joint
flexors and extensors across various positions of the range of movements, particularly
focusing on medium and high velocities. Using the dynamometer system "REV-9000"
Technogym, isokinetic movements were tested at angular velocities of 100º/s and
200º/s. Eleven male students from the Latvian Academy of Sports Education
participated, with an average age of 24.3±4.5 years. The study found that the
flexors/extensors torque ratios varied with joint angle, indicating changes in muscle
balance. At high velocities, the risk of hamstring injury doubled compared to medium
velocities due to increased hip flexors' torques, particularly evident in flexed hip
positions (50º and 60º). Similarly, in knee extreme extension, the hamstrings/quadriceps
torque ratio was slightly higher at fast velocities, indicating the hamstrings' role in
decelerating knee extension to prevent injury.

Sridhar Kashyap et al. [6] demonstrated knee physiotherapy by proposing a cost-

effective system capable of diagnosing knee severity using machine learning models
and providing automated physiotherapy. By utilizing gyroscopic data and a predefined
questionnaire, a 1D-CNN model was trained, achieving an accuracy of 90.21%. This
approach surpasses some state-of-the-art algorithms in determining knee severity, with
minimal computational cost. The proposed system aims to replace conventional
Continuous Passive Motion machines (CPMs) by offering a portable and affordable
alternative. It quantifies knee severity using a Knee Quality Metric (KQM) derived from
gyroscopic sensor data and determines the appropriate therapy routine using K-means
clustering. The ergonomic design coupled with the accurate machine learning algorithm
provides a robust solution for knee physiotherapy, significantly reducing costs and
increasing accessibility.

Ashna Khemani et al. [7] proposes a device aimed at assisting patients with lower limb
injuries in completing physical therapy exercises independently. The device offers four
modes of movement and is portable, addressing the need for convenient home-based
rehabilitation. By considering functional and design requirements, the proposed design
aims to alleviate the challenges faced by patients, such as the difficulty of holding
resistance bands in place during exercises. Calculations of the forces involved guide the
selection of suitable components for the device. Possible improvements include
integrating sensors to automatically adjust resistance levels based on the patient's
exertion, enhancing user interface for personalized feedback, and implementing tracking
mechanisms to monitor progress over time. Overall, this device presents a promising
solution to enhance the effectiveness and accessibility of physical therapy for lower
limb injuries.

Doyoung Chang et al. [8] hypothesized that robot leg design for dynamic hopping
locomotion, utilizing a slider-crank mechanism to convert continuous motor rotation
into linear piston motion for impacting the ground. The proposed mechanism aims to
overcome limitations in power efficiency faced by conventional actuator systems, such
as pneumatic actuators and electronic motors. By harnessing the continuous motion of
an electric rotary actuator and incorporating a spring damping system, the leg can
efficiently generate hopping motion while conserving and releasing potential energy. A
mechanical passive clutch trigger mechanism is developed to control the timing of
impact from the periodic motion of the piston, ensuring stable locomotion. Dynamic
analysis is conducted to determine optimal design parameters for the trigger mechanism,
and the results are verified through simulation and experimentation. The proposed leg
mechanism demonstrates constant hopping height during continuous motion, laying the
groundwork for future enhancements to enable forward propulsion through swing
motion.

Xusheng Wang et al. [9] proposes that lower limb rehabilitation module as part of a
synchronous rehabilitation robot for bedridden stroke patients, aiming to improve
rehabilitation efficacy. The methodology involves several key steps: (1) Mechanism
design, which includes innovative mechanisms for adjusting patients' body shape and
weight compensation to ensure comfort during training. (2) Simplification and
geometric analysis of the human-machine linkage mechanism to understand the
interaction between the robot and patient. (3) Trajectory planning and dynamic
modelling to facilitate rationalized rehabilitation movements. (4) Calculation of motor
driving force required for rehabilitation, ensuring safety and effectiveness. (5) Proposal
of an active training control strategy based on a sandy soil model to reconstruct patient
motor functions. (6) Construction of an experimental platform to validate the feasibility
of the rehabilitation module. This comprehensive approach integrates mechanical
design, dynamic analysis, and control strategy development, providing a solid
foundation for the implementation of effective rehabilitation interventions for bedridden
stroke patients.

Ramanpreeth Singh et al. [10] aimed lower-limb robotic devices used for gait
rehabilitation, including treadmill-based exoskeletons, over-ground rehabilitation
exoskeletons, portable exoskeletons, and orthoses. Treadmill-based devices offer multi-
degree-of-freedom (DF) mechanisms and are bulky, typically used in clinical settings.
Over-ground exoskeletons provide mobility and natural walking patterns, while portable
exoskeletons offer lightweight and easy-to-use alternatives. Orthoses, specifically knee-
ankle-foot orthoses (KAFO), assist in knee and ankle movement rehabilitation. an
optimized design of a slider-crank knee orthotic device, inspired by compact portable
knee-ankle-foot robots. The slider-crank mechanism is used for the knee joint, and an
optimization problem is formulated to minimize the peak force required by the actuator.
The Jaya optimization algorithm is employed to solve the formulated problem, aiming
to move candidate solutions towards the best outcomes and away from the worst ones.

Roshani Nandanwar et al. [11] analyzed that the patient underwent a comprehensive
physiotherapy program, which included a multifaceted approach to address the genu
varum deformity. The physiotherapy regimen consisted of exercises tailored to improve
muscle strength and flexibility around the knee joint, electrotherapy techniques aimed at
reducing pain and inflammation, and gait training to correct the abnormal walking
pattern associated with the deformity. The duration of the treatment spanned six weeks,
allowing for progressive adjustments and monitoring of the patient's response to
therapy. Throughout the intervention, the physiotherapist closely monitored the patient's
progress, adjusting the treatment plan as needed to optimize outcomes. The successful
outcome of this case underscores the importance of a structured and proactive approach
to physiotherapy in managing knee deformities and achieving functional goals
effectively.

Jianwei Sun et al. [12] delved into two deployable mechanisms inspired by the motion
characteristics of the four-bar slider-crank mechanism (FBSCM): the prism mechanism
with constant cross-section and the round deployable mechanism. It proposes a new
planar deployable unit based on the path-generating properties of the FBSCM and
outlines a method for constructing a deployable mast unit with one degree of freedom
(DOF) using this unit. Additionally, it presents a deployable unit with a negative
Poisson’s ratio for building the round deployable mechanism, leveraging the functional
output of the FBSCM. The round deployable mechanism's structure and parameter
model are described, and its static analysis demonstrates improved bearing capacity
when multiple guide rails are locked. Overall, the study underscores the potential of
utilizing the FBSCM in designing large space deployable mechanisms, offering insights
into enhancing structural performance and functionality.

Lars L Andersen et al. [13] examined that the neuromuscular activation levels during
both conventional therapeutic exercises and heavy resistance exercises for knee joint
rehabilitation. The background highlighted the common occurrence of central activation
failure and muscular atrophy post-knee injury, emphasizing the need for exercises that
stimulate hypertrophy and enhance neural drive. Thirteen healthy, untrained men
participated, and neuromuscular activation was measured using electromyography
(EMG) during various exercises. Results showed low activation levels (<35%) in
conventional exercises, contrasting with higher levels (67%-79%) in heavy resistance
exercises. Additionally, no exercise preferentially activated the vastus medialis muscle
over the vastus lateralis muscle. The discussion underscores the importance of heavy
resistance exercises in rehabilitation to achieve sufficient neuromuscular activation for
muscle growth and strength. The study challenges traditional physical therapy
paradigms, suggesting the potential limitations of conventional exercises in stimulating
desired neuromuscular responses.

M. V. Hurley et al. [14] In response to the challenges posed by chronic knee pain, aimed
to compare the effectiveness of a rehabilitation program, ESCAPE-knee pain, with
usual primary care in improving functioning among individuals aged over 50
experiencing knee pain for over six months. A pragmatic, single-blind, cluster-
randomized controlled trial design, conducted across 54 inner-city primary care
practices in South East London, UK. The primary outcome measure was self-reported
functioning six months post-rehabilitation. The ESCAPE-knee pain program sought to
offer a safe, effective, and affordable alternative to usual primary care, aligning with the
growing need for interventions that improve functioning and can be delivered to a large
number of individuals. The randomized design minimized the risk of information
exchange or alterations in usual care among participants. Overall, the study aimed to
address the significant burden of chronic knee pain by developing and evaluating a
comprehensive rehabilitation program tailored to the needs of individuals experiencing
this condition.

Charles G. Burgar et al. [15] presented the development and testing of three
mechatronic systems for post-stroke therapy, emphasizing bimanual, mirror-image,
patient-controlled exercise. Initial proof-of-concept with a 2-degree-of-freedom
elbow/forearm manipulator led to a second-generation therapy robot facilitating planar
forearm movements. Clinical trials showed significant motor recovery improvement
with robot-assisted therapy compared to traditional methods. To address challenges in
establishing intended movements, an investigational treatment paradigm was proposed.
Fabrication of forearm-elbow-arm exoskeletal orthoses enabled testing with
neurologically normal subjects simulating motor-control deficits. Challenges in
achieving clinically acceptable performance were acknowledged, but brainstorming
sessions endorsed the concept of self-controlled therapy. The study supports robot-aided
therapy's potential to enhance motor performance, with ongoing trials showing
promising trends in strength improvement and motor function assessment, even beyond
six months post-stroke.

Bo Huang et al. [16] introduced a framework for quantifying similarities among various
lower limb movements, employing kinematic synergies as a basis. Through hierarchical
clustering analysis, the movements are categorized into three distinct clusters: walking,
running, and sitting-down-standing-up form the largest cluster, followed by hopping
and turning in separate clusters Notably, shared synergies are identified across different
categories, indicating common underlying mechanisms in lower limb movements. This
hierarchical categorization provides a structured and quantitative representation of
lower limb movements, offering insights into motor function assessment, rehabilitation,
and robotics. Additionally, this approach can be extended to analyze and categorize
other human limb movements and even movements of other animals, facilitating a
deeper understanding of motor control across species.

Kazuo Kiguchi et al. [17] elucidated the relationship between lower-limb motions
(sitting down, standing up, squatting, walking, ascending and descending stairs) and the
corresponding muscle activities, aiming to inform the design of controllers for lower-
limb power-assist robotic systems for physically weak individuals. The experiment
involved measuring joint angles using a motion capture system and recording
electromyographic (EMG) signals from relevant muscles during the specified lower-
limb motions. Root mean square (RMS) was employed as a feature extraction method
for the EMG signals. The analysis focused on understanding how muscle activity levels
relate to different lower-limb motions, providing valuable insights for developing
effective power-assist mechanisms tailored to the needs of physically weak individuals.

Davood Khalili et al. [18] focuses on the development and application of a robotic
system for rehabilitation purposes, particularly in providing continuous passive motion
(CPM) for joints following surgery or trauma. The robotic system consists of two planar
robot arms with two degrees of freedom each, designed to interact with human joints. A
novel approach for estimating body segment parameters is proposed, utilizing state and
output information from the robotic system along with redundant sensors to enhance
accuracy. The methodology involves formulating a procedure for body segment
parameter estimation (BSP) and simulating the dynamic equations for a single robot
arm. The therapeutic applications of the system are discussed, along with the sensitivity
analysis of measured forces to optimize system orientation for better estimation.
Additionally, historical context on CPM technology and its limitations is provided,
emphasizing the need for more adaptable and programmable systems like the one
proposed in this study.

Yuan Jie Fan et al. [19] introduces an ontology-based automating design methodology
(ADM) for smart rehabilitation systems in the Internet of Things (IoT) context. With the
aging population and shortage of healthcare professionals, IoT-based smart
rehabilitation systems offer a promising solution. The methodology leverages ontology
to understand symptoms and medical resources, facilitating the rapid creation of
rehabilitation strategies and reconfiguration of resources based on patients' specific
needs. By interconnecting all resources through IoT and employing ontology-based
design, this approach aims to provide quick and effective rehabilitation for various
patients. The combination of IoT and ontology offers a structured approach to
rehabilitation engineering, enabling better analysis and knowledge sharing for improved
patient outcomes.

Keiko Homma et al. [20] proposes a leg rehabilitation system aimed at enabling
multiple-degree-of-freedom (DOF) training of the leg through wire manipulation.
Initially, a single-DOF experimental system was constructed and tested, demonstrating
the feasibility of the wire-driven approach. Subsequently, a 2-DOF experimental system
was designed to facilitate flexion/extension motions of the hip and knee joints.
Experiments conducted on both a test dummy and a male subject validated the system's
ability to generate accurate motion, suitable for range of motion exercises. The wire-
driven mechanism showed promise as a human-friendly system.

2.1 CONCLUSIONS

Based on the literature reviews provided, here are five conclusions suitable for
modelling the Slider Revive Physiotherapy Device:
 1. Focus on Portability and Compliance: Prior research emphasizes the
importance of designing rehabilitation devices with portability and compliance
features to address the limitations of existing bulky and misaligned devices. The
Slider Revive Physiotherapy Device should prioritize portability and compliance
to enhance usability and effectiveness.

2. Utilization of Underactuated Mechanisms: Incorporating underactuated

mechanisms, such as contractible slider cranks, can minimize misalignments and
optimize the device's functionality. The Slider Revive Physiotherapy Device
could benefit from underactuated mechanisms to ensure smooth and accurate
motion during rehabilitation exercises.

3. Trajectory Planning and Optimization: Kinematic analysis and trajectory

planning are essential for optimizing rehabilitation device performance.
Utilizing methods like particle swarm optimization and genetic algorithms can
enhance trajectory accuracy and effectiveness. The Physiotherapy Device should
integrate trajectory planning techniques to tailor rehabilitation exercises to
individual needs.

4. Integration of Self-Aligning Mechanisms: Self-aligning mechanisms play a

crucial role in ensuring proper alignment during rehabilitation sessions,
especially in sitting/lying LLRRs. Incorporating self-aligning mechanisms into
the design of the Slider Revive Physiotherapy Device can improve user comfort
and overall rehabilitation outcomes.

5. Validation Through Passive Exercise Trials: Validating device performance

through passive exercise trials is essential to confirm feasibility and
effectiveness. The Physiotherapy Device should undergo rigorous testing,
including passive exercise trials, to validate its ability to provide accurate and
safe rehabilitation therapy.

By incorporating these conclusions into the modelling process, the Slider Revive
Physiotherapy Device can be designed to effectively address the rehabilitation needs of
patients with lower limb injuries and mobility impairments.
 3 KINEMATIC ANALYSIS OF SLIDER REVIVE

3.1 Kinematic Analysis

Crank slider mechanism is a simple machine used to transform the rectilinear

translational (sliding) motion to rotary motion or vice versa. It is a simple mechanism
but it has a very wide use.
Table 3.1 Nomenclature
NOMENCLATURE

𝓍 displacement (mm)
v velocity (mm/s)
𝒶 acceleration (mm/ s2)
θ, β angle (degree)
ω angular velocity (rad/sec)
a angular acceleration (rad/ sec 2)

In kinematical analysis the trigonometric method is used in coordinate system 0, x, y,

 Figure 3.1 Crank slider mechanism. source: google images
From fig 5.1:
r sin θ=l sin β (1)
where ,

For point A stands:

r r
sinβ ¿ sinθ= sinωt
l l

√
cosβ =√ 1−sin2 β = 1− ()
r 2 2
l
sin θ= 1−
√
l ()
r 2 2
sin ω t (2)

Parametric equations of trajectories of points A,A, and B are:

x A=rcosθ=rcosωt
y A =rsinθ=rcosωt
(3)

√
x B =rcosθ+l cosβ=r cosωt + l 1− ()
r 2 2
l
sin ωt ,

y B =0
(4)

√
x C =rcosθ+ b cosβ=r cosωt + 1− ()
r 2 2
l
sin ωt
 rd
y C =d sin β=¿ sin ωt ¿
l
(5)
The velocities of points A, B and C are:

√ A
√ B
2
√
v A = x A2+¿ y ,¿ v B= x B2+¿ y , ¿ v C = xC 2+¿ y ¿
2
C
2

(6)
And the accelerations of points A, B and C are:

√ A
√ B
2
√
a A= x A2+¿ y ,¿ a B= x B 2+¿ y , ¿ a C = xC 2+¿ y ¿
2
C
2

(7)
We obtain angular trajectory, angular velocity and angular acceleration of the member 4:

l sinθ
 sinβ= sinθ=
r n

 cosβ =√ 1−sin2 β= √ n −sin θ

2 2

n
l 2
 x=r +l−
n
√ n −sin 2 θ−rcosθ
 x=r ¿)

Velocity of slider:
dx dθ
 v= ×
dt dθ
 v=ωr ¿)
 v=ωr ¿)
 v=ωr ¿)
Acceleration of slider:
dv dθ dv
 a= × =ω ×
dt dθ dθ
 a=ω 2 r ¿)
Angular Velocity of Connecting Rod:
 r sin θ=l sin β
d dβ d sinθ dθ
 sinβ × = ×
dt dβ dt n dθ
 dβ dθ cosθ cosθ
 × cosβ= × =ω ×
dt dt n n
ω × cosθ ω × cosθ
ω= = 2
 n × cosβ √n −sin2 θ , as n2 ≫ ≫ sin2 θ
×n
n
ω × cosθ
 ω=
n
Angular Acceleration of Connecting Rod:
d dθ
 α= ω×
dt dθ
2
 α = −ω × sinθ
n
Utilizing the derived equations and incorporating the necessary data from our model,
the calculations unfold as follows:
Crank Length = r = 90mm
Con Rod Length = l = 140mm

l 140
 n= = =1.55
r 90
we know that,
sinθ
 cosθ=
n
 n=tan θ
 θ=tan−1 ( 1.55 )
 ∴ θ=57.171∘
2
−ω ×cos θ
1. ω con=
n
628.31× cos ( 57.171 )
=
1.55
ω con=219.759 rad / sec

2
−ω × sinθ
2. α con=
n
2
−( 628.31 ) × sin ( 57.171 )
=
1.55
2
α con=−214016.193 rad /sec
 (
3. ν slider=ωr sinθ+
sin 2θ
2n )
[
= 628.31× 0.09 ( sin 57.171 )+
1.55 )]
( sin2×114.32
= 64.136 m/sec
2
(
4. a slider =ω r cosθ +
cos 2 θ
2n )
[
= ( 628.31 )2 ×0.09 cos 57.171+ ( cos2 ×1.55
114.342
)]
= 14537.705 m/sec 2

4 Modelling of Slider Revive

The CATIA model of the physiotherapy device, known as the Slider Revive, is designed
to provide efficient and targeted rehabilitation solutions. Assembled from various
components including a sturdy base, a connecting rod, a crank, a comfortable footrest, a
slider, and a threaded rod, this device embodies both robust construction and design.
The base serves as a stable foundation, ensuring safety and stability during therapy
sessions, while the connecting rod and crank form the essential framework for motion.
The footrest offers optimal support for patients, promoting proper alignment and
posture. The slider, guided by the thread rod, facilitates smooth and adjustable
movement, accommodating a range of exercises tailored to individual needs. Through
assembly and integration of these components, the CATIA model embodies a
comprehensive physiotherapy solution, empowering users on their path to recovery and
rehabilitation.

4.1 Steps involved in designing parts in CATIA

Sketching:
Sketch Workbench: Begin by creating a 2D sketch of the component's profile or shape
using the Sketch Workbench.
Sketch Tools: Utilize tools such as lines, arcs, circles, and splines to create the desired
geometry.
Constraints: Apply constraints (e.g., coincident, parallel, perpendicular) to define
relationships between sketch entities and ensure geometric accuracy.
Dimensions: Add dimensions to specify the size and proportions of sketch elements,
ensuring they meet design requirements.

Creating a Base Feature:

Part Design Workbench: Switch to the Part Design Workbench to transform the 2D
sketch into a 3D model.
Pad Feature: Use the Pad feature to extrude the sketch into a solid body, defining the
desired depth or thickness.
Draft: Apply draft angles if necessary to facilitate mold release or improve
manufacturability.

Adding Features:
Sketch-Based Features: Create additional sketch-based features (e.g., holes, slots,
pockets) using sketches and the associated tools (e.g., Hole, Pocket).
Boolean Operations: Combine or subtract solid bodies using Boolean operations (e.g.,
Union, Subtract) to create complex shapes or features.

Modifying Geometry:
Fillets and Chamfers: Add fillets or chamfers to edges to improve aesthetics, reduce
stress concentrations, or meet design requirements.
Shell: Use the Shell feature to hollow out solid bodies, creating thin-walled components
or cavities.

Advanced Design Features:

Sweep and Loft: Employ the Sweep and Loft features to create complex shapes by
sweeping or lofting along specified paths or guides.
Multi-section Solids: Construct multi-section solids using the Multi-sections Solid
feature to create intricate geometry with multiple cross-sections.

4.2 Key Components

To understand how the Slider Revive works, let's take a closer look at its key
components:

1. Connecting Rod
2. Slider
3. Crank
4. Footrest
5. Thread Rod
6. Base
CONNECTING ROD: a structural component that serves as a pivotal link within the
mechanism. It is designed to connect the crank, which generates rotational motion, to
other essential elements of the device, such as the slider or footrest. By bridging these
components together, the connecting rod facilitates the transmission of motion. serves
as a crucial intermediary component that facilitates the translation of rotational motion
into linear or reciprocating motion
 Figure 3.2(a) Connecting Rod

SLIDER: A component that moves linearly along a path. It is often used in various
mechanisms and machines to translate motion from one form to another, such as
converting rotary motion into linear motion or vice versa. A slider typically consists of a
moving element, often called a carriage or block, that travels along a track or guide rail.
This track provides the necessary guidance and support for the slider's motion. The
slider may also incorporate features such as bearings or bushings to reduce friction and
ensure smooth movement.

Figure 3.2(b) Slider

CRANK: A mechanical component responsible for generating rotational motion. This
rotational motion is converted into linear or reciprocating motion through the
coordinated action of other components, such as the connecting rod and slider. When
rotated, the crank transfers mechanical energy to the connecting rod, which in turn
translates this rotational motion into linear or reciprocating motion, depending on the
specific configuration of the device.

Figure 3.2(c) Crank

FOOTREST: A stable platform for patients to rest their feet, by providing a designated
area for patients to place their feet, the footrest helps distribute weight evenly and
reduces strain on the legs and lower back by providing a surface for the feet to rest on,
promoting better blood circulation and reducing fatigue.
 Figure 3.2(d) Footrest
THREAD ROD: This component guides and controls the movement of the slider
component. The threaded rod is typically attached to the base or another stationary part
of the device, while the slider is threaded onto it. As the threaded rod is rotated or
adjusted, the slider moves along its length in a smooth and controlled manner. This
allows for precise adjustment of the position of the slider, which in turn determines the
range of motion.

Figure 3.2(e) Thread Rod

BASE: The foundational component upon which the entire components are built and
stabilized. contributes to the structural integrity construction and design help distribute
the weight of the device and its occupants evenly, preventing deformation or damage
over time. This structural stability ensures the longevity and reliability of the device,
allowing it to withstand the rigors of daily use in clinical or home settings.
Mounting points and attachment areas for elements such as the connecting rod, crank,
footrest, slider, and threaded rod. By securely anchoring these components to the base,
it ensures proper alignment and functionality of the entire device.
 Figure 3.2(f) Base

4.2.1 Assembly of Components

the detailed steps involved in assembling designed parts in CATIA's Mechanical Design
workbench:
Open the Assembly Workbench: Start by opening the Assembly workbench in CATIA.

Insert Components: Click on the "Insert" menu and select "Existing Component" to
insert the designed parts into the assembly. Browse to the location of the part files and
select the parts you want to insert. Place each component in the desired position within
the assembly workspace.

Align Components: Use the constraint tools to align and position the components
relative to each other. Common constraints include coincident, parallel, perpendicular,
and tangent constraints. Ensure proper alignment and clearance between components to
avoid interference or clashes.

Apply Constraints: Apply constraints to restrict the movement of components as

desired. Examples of constraints include fixed, sliding, rotating, and offset constraints.
Use constraints to simulate real-world assembly conditions and interactions between
parts.
Check Interferences: Use the interference detection tool to check for any interferences
or clashes between components. Resolve any identified interferences by adjusting the
position or orientation of components as needed.

Figure 3.2.1 Assembly of components

Test Assembly: Conduct a virtual assembly simulation to test the functionality and
performance of the assembled components. Verify that all components move and
interact as intended without any issues or constraints.

Finalize Assembly: Once satisfied with the assembly, save the assembly file to
preserve the arrangement and relationships between components.
 5 TEST MODEL AND SIMULATION
Creating a prototype for the Slider Revive involves bringing the designed components
together into a physical form that closely resembles the final product.

5.1 Components used in test model

DC MOTOR: A DC motor is an electromechanical device that converts electrical

energy into mechanical energy through the interaction of magnetic fields. When electric
current flows through the motor's armature (the rotating part), it generates a magnetic
field that interacts with the fixed magnetic field, producing torque that causes the
armature to rotate.

Figure. 5.1 DC motor, source: IndiaMART

AC DC ADAPTER: An AC/DC adapter, also known as a power adapter or charger, is a

device that converts alternating current (AC) from a wall outlet into direct current (DC)
suitable for powering or charging electronic devices.
 Figure. 5.2 AC DC adapter, source: IndiaMART

INSULATED COPPER WIRE: a type of electrical conductor made of copper, a highly

conductive metal, and covered with a protective insulating material. The core of the
wire is typically made of copper due to its excellent conductivity properties.

Figure 5.3 insulated copper wire, source: IndiaMART

STAINLESS STEEL SHEET: Stainless steel measuring 2 feet on each side and having
a thickness of 1mm. It is made from grade 316 stainless steel, which is a higher-grade
austenitic stainless steel known for its excellent corrosion resistance, particularly in
harsh environments containing chlorides, such as marine and coastal areas.
 Figure. 5.4 Stainless steel sheet, source: Exporters India

NYLON LEAD SCREW: Nylon lead screws are known for their lightweight, corrosion
resistance, and self-lubricating properties. They are often used in applications where
metal screws may not be suitable due to factors such as weight restrictions, noise
considerations, or the need to operate in corrosive environments.

Figure. 5.6 Nylon lead screw

NUT AND BOLT: Nuts and bolts are fundamental fasteners, with the bolt comprising a
threaded shaft and head and the nut featuring a threaded hole. When assembled, they
create a secure joint by passing through aligned holes in materials and tightening the nut
onto the bolt.

Figure. 5.7 nut and bolt, source: IndiaMART

5.2 Operations Performed

 Welding and drilling functions are integral processes in completing the construction
of the Slider Revive model, ensuring structural integrity and functionality. Welding
joins metal components together, forming sturdy connections, while drilling creates
precise holes for assembly and attachment of various parts. Where as drilling
process is creating precise holes in components or materials to accommodate
fasteners, mechanisms, or other elements essential for the device's assembly and
functionality. This drilling process ensures accurate alignment and secure
attachment of parts, contributing to the structural integrity and performance of the
Slider Revive.

5.3 PROPERTIES OF MATERIAL

The material used is Stainless Steel and as of material, Stainless steel is a versatile
material renowned for its corrosion resistance, strength, and hygienic properties. It is
widely used in various industries, including construction, automotive, healthcare, and
manufacturing, due to its durability, temperature resistance, and aesthetic appeal. From
kitchen appliances to medical devices, stainless steel plays a vital role in modern life,
offering reliability and longevity in diverse applications.

Properties of Stainless Steel:

1. Corrosion Resistance: Stainless steel exhibits excellent resistance to corrosion,

making it suitable for various applications in corrosive environments.

2. Strength: Stainless steel possesses high strength and durability, providing

structural integrity and reliability in demanding conditions.

3. Hygiene: Stainless steel is easy to clean and maintain, making it ideal for use in
industries requiring strict hygiene standards, such as food processing and
medical equipment.

4. Temperature Resistance: Stainless steel can withstand high and low

temperatures without losing its mechanical properties, making it suitable for
applications in extreme environments.

5. Aesthetic Appeal: Stainless steel has a sleek and modern appearance, enhancing
the visual appeal of products and structures.
Figure. 5.8 Test model parts
5.3 Step-by-step process for tracing a process in ANSYS:

1. Define Problem: Start by clearly defining the problem you want to solve, whether it's
structural analysis, fluid dynamics, or any other type of simulation.

2. Launch ANSYS: Open the ANSYS Workbench application.

3. Create Geometry: If you're starting with a new project, create or import the
geometry of your model using the Geometry tool in ANSYS.

4. Mesh Generation: Generate a mesh for your geometry using the Mesh tool. This
discretizes the geometry into smaller elements for analysis.

5. Define Boundary Conditions: Specify the boundary conditions for your simulation,
such as fixed supports, applied loads, etc.

6. Define Material Properties: Assign material properties to the components of your

model using the Material Properties tool.

7. Set Up Analysis: Choose the type of analysis you want to perform (e.g., static
structural, transient thermal, etc.) and set up the analysis settings accordingly.

8. Solve: Run the simulation to solve the model and obtain results.

9. Post-Processing: Analyze the results using the post-processing tools in ANSYS, such
as plotting stress contours, displacement vectors, etc.

10. Interpret Results: Interpret the results to draw conclusions about the behaviour of
your model under the specified conditions.

11. Validation: Validate the results by comparing them with experimental data or
theoretical predictions, if available.

5.4 Trace point Analysis

Trace point analysis involves examining the trajectory or path of a point or component
in a system and for connecting rod and footrest analysis is performed and explained
below
POSITION-1

Figure.5.10 Trace point of position1

Table5.1 Displacement values of position 1

Time [s] Position (X) [mm] Position (Y) [mm] Position (Z) [mm]

1 0. 262.71 -52.751

2 1.e-002 262.71 -52.692

3 2.2218e-002 262.71 -52.623

4 3.6951e-002 262.71 -52.543

5 5.4335e-002 262.71 -52.453

6 7.445e-002 262.71 -52.354

7 9.7363e-002 262.71 -52.249

8 0.12316 262.71 -52.14

9 0.15194 262.71 -52.027

10 0.18385 262.71 -51.913

POSITION-2

Figure.5.11 Trace point of position 2

Table5.2 Displacement values of position 2

Position 2 (X) Position 2 (Y) Position 2 (Z)

Time [s] [mm] [mm] [mm]

1 0. 270.42 -12.976
2 1.e-002 270.42 -13.091

3 2.2218e-002 270.42 -13.231

4 3.6951e-002 270.42 -13.398

5 5.4335e-002 270.42 -13.595

6 7.445e-002 270.42 -13.822

7 9.7363e-002 270.42 -14.078

8 0.12316 270.42 -14.365

9 0.15194 270.42 -14.682

10 0.18385 270.42 -15.032

 Figure.5.12 Slidercrank
r = 90mm
footrest = 100mm
taking,
θ = 0∘ = 0.7850 rad
θ = 15∘ = 0.2617 rad
θ = 30∘ = 0.5235 rad
θ = 45 ∘ = 0.7850 rad
θ = 60∘ = 1.0472 rad,
 When θ = 0∘ = 0.7850 rad
l=rθ
l=190 × 0=0 mm
 When θ = 15∘ = 0.2617 rad
l=rθ
l=190 × 0.2617=0 49.723 mm
 When θ = 30∘ = 0.5235 rad
l=rθ
l=190 × 0.5235=99.465 mm
 When θ = 45 ∘ = 0.7853 rad
l=rθ
l=190 × 0.7853=149.204 mm
 When θ = 60∘ = 1.0472 rad
l=rθ
l=190 ×1.0472=¿198.96 rad
 When θ = 57.17∘ = 0.9978 rad
l=rθ
l=190 × 0.9978=¿ 189.50 mm

FOOTREST:

Figure.5.13 Trace point near footrest

x → 262.71 mm
y →−52.75 ¿−143.09 mm
z → 112.43 ¿ 156.48 mm
CONNECTING ROD:

Figure.5.14 Trace point near connecting rod

x → 2 70.42mm
y →−12.97 ¿−127.77 mm
 z → 20.68 ¿ 57.66 mm

1. From footrest:
θ = 57.17∘ = 0.9978 rad
l=rθ
l=190 × 0.9978=¿ 189.50 mm
From simulation,
l=262.71 mm
Error = 0.73%
2. From connecting rod:
θ = 57.17∘
l = 089.802 mm
From simulation
l=270.42 mm
Error = 1.80%