Final project presentation_V1_Reviewed.pptx

Design optimization of continuouse passive motion mechanism

1. Final Project Presentation Development of a Portable CPM Machine for Lower Limb B. Tech. in Mechanical Engineering Name of the Faculty Member : Dr. N. C. Mahendra Babu Designation : Professor Department : Mechanical and Manufacturing Engineering Name of the Faculty Member : Nagarjun M. A. Designation : Senior Training Faculty Department : Directorate of Training and Lifelong Learning

2. Project Team: Name USN K Shree Harshavardhan Rau 16ETME005028 Ganesh Desai R 16ETME005018 Vinayak P Angadi 16ETME005071 Samana Kulkarni 16ETME005401

3. Outline Introduction Title and Aim Objectives Project Progress References

4. Outline Introduction Title and Aim Objectives Methods and Methodology Conclusion Future scope Project costing Summary of the project w ork Gantt chart References

5. Introduction Continuous passive motion (CPM) devices are used during the first phase of rehabilitation following a soft tissue surgical procedure CPM is carried out by a CPM device, which constantly moves the joint through a controlled range of motion CPM machine can be used for the following: Post-surgery such as total knee replacement After excision of scar tissue from a joint with manipulation for stiffness For conditions such as osteoarthritis or after fracture in limbs

6. Title Development of a Portable CPM machine for Lower Limb

7. Aim To design, fabricate and demonstrate the working of a portable CPM machine for knee joint rehabilitation

8. Objectives To review literature related to knee joint rehabilitation, CPM machine, applications of CPM To develop complete product specification of portable CPM suitable for knee rehabilitation and develop different concepts To select the best concept and develop 3D model of the portable CPM

9. Objectives (Contd.) To carry out kinematic analysis, dynamic analysis and detailed design of the portable CPM To develop the 3D model of the designed CPM machine

10. Methods and Methodology Objective-1: To review literature related to knee joint rehabilitation, CPM machine, applications of CPM

11. Knee joint rehabilitation: Regain the initial range of motion of the knee joint Avoid immobilization of the knee Avoid development of stiffness Strengthen muscles Ensure faster healing Eliminate risks of manipulation surgeries Provides patient painless exercises

12. Applications of Knee CPM Machine: Total Knee Replacement Excision of Scar tissue Osteoarthritis Figure 1.1: TKR Figure 1.2 : Side view of knee showing scar tissue Figure 1.3 : Comparison of healthy knee and knee affected by Osteoarthritis

13. Applications of Knee CPM Machiner ( Contd …): Ligament reconstruction Figure 1.4 : Torn ACL ( left) and ACL reconstruction (Right ) Fracture Figure 1.5 : Comparison of healthy knee and knee with fracture

14. Various types of CPM machines in the Indian market: Figure 1.6 : VISIONO CPM machine Figure 1.7 : Kneeflex by HMS

15. Various types of CPM machines in the international market: Figure 1.9 : Fisiotech 3000GS CPM Figure 1.8 : Artromot K1 CPM

16. Field survey Method Execution Results

17. Methods: Questionnaire for physiotherapist: Under what conditions is the use of CPM machine recommended? How often is the patient advised to exercise in a day? How likely is the patient to choose a CPM machine over physiotherapy? How long should the patient use the CPM machine? What is the range of motion that the patient must achieve? What is the advisable holding time for flexion and extension? What are the features that need to be added or improved upon? What are the flaws in the existing CPM machines? What is the price of an ideal CPM machine?

18. Execution: Physiotherapy centers visited Doctors consulted Synergy Physiotherapy Dr. Rajashree Pro Physio Homecare Services- NU Hospital Dr. Shruthi Digde Best Ortho Care Dr. Sana Aimann Sri Sai Balaji Physiotherapy Clinic Dr. Sasidhar Vuppalapati Nikisa Poly Clinic Dr. Denzil Fernandes Observation: It was observed that CPM machines are not available at most of the clinics and they still rely on the traditional manual physiotherapy.

19. Results: After surgeries like Total Knee Replacement (TKR), Anterior Cruciate Ligament (ACL) reconstruction. 2 hours in the hospital and 1 hour at the clinic. Patients tend to choose CPM machine due to comfortable and painless experience. For TKR- 1 month and ACL reconstruction- 2 weeks. 0-120 degrees Depends upon patient condition. Bigger size, better supports, higher hold time and ability to start flexion from desired angle Lean people have problems since proper support is not available. Frequent maintenance is required since the screws loosen. INR 30,000 (4 years ago)

20. Summary of Literature Review Literature review of Knee joint rehabilitation to understand the requirement and purpose of CPM Review on the existing Knee CPM machines (both on National and International levels) to understand the technology and the gap Preparation of a questionnaire for doctors and physiotherapists to understand the medicine point of view in terms of usage and features Questionnaire captures the points of improvement and lists flaws in the current Knee CPM machines

21. Methods and Methodology Objective-2: To develop complete product specification of portable CPM suitable for knee rehabilitation and develop different concepts

22. Development of Specification Typical Specifications of a CPM machine: Input Voltage 220 V Treatment time 0-99 minutes Power consumption 35 W Flexion hold time 0-9 seconds Extension hold time 0-9 seconds Flexion angle 5-110 degree Max imum patient weight Upto 140 kgs Cost INR 30,000

23. Development of Specification Information gathered through literature review Bench marking Information gathered through field study

24. Information gathered through literature review A survey was conducted and all the available machines in the market were studied These studied machines have a range of prices and differ in their levels of sophistication Out of these machines, two machines were selected and were benchmarked Out of the two machines, one was chosen from the Indian market and the other was chosen from the International market The machine being developed will have the specifications that lie in between the specifications of these two machines

25. Benchmarking Nationally available CPM Machine: HMS – Kneeflex Weight 14.75 kg Range of motion 10-120 degree Hold time 0-99 seconds Speed 50-110 degree/min Treatment time 5 minutes-24 hours Calf length range 32-54 cm Thigh length range 34-50 cm Main voltage 90-270 V, 50/60 Hz Dimension- L × B ×H 85 ×29.5×25 cm Maximum patient weight 160 kg Figure 2.1: Kneeflex by HMS Specifications:

26. Benchmarking (Contd..) Internationally available CPM Machine: Fisiotech 3000GS CPM Weight 14.1 kgs Range of motion -10-120 degree Hold time 0-30 seconds Speed Can be varied Treatment time Can be varied Calf length range 28-47 cm Thigh length range 29-50 cm Main voltage 100-240 V, 50/60 Hz Dimension- L × B ×H N/A Maximum patient weight 158.8 kg Specifications: Figure 2.2: Fisiotech 3000GS CPM

27. Specifications of the Proposed CPM machine: Range of motion – 0 -120 degrees Hold time – Adjustable Speed – Adjustable Treatment time – Adjustable Calf (Shank) length range – 335 to 490 mm Thigh (Femur) length range – 335 to 490 mm Weight Universal and portable Remote controlled operations  

28. Development of Concepts

29. Concept 1: Combination of four bar and slider crank mechanism

30. Concept 2: Slider crank mechanism with ball screw driver

31. Concept 3: Combination of four bar and slider crank mechanism with ball screw

32. Concept 4: Slider crank mechanism with cam follower

33. Methods and Methodology Objective-3: To select the best concept and develop 3D model of the portable CPM

34. Comparison of the conceptual designs Parameters Concept 1 Concept 2 Concept 3 Concept 4 Overall size Intermediate Compact Compact Bulky Weight (kg) 16 15 14 20 Number of parts 7 7 10 10 Design Complexity Simple Less complex Less complex Complex Adjustability Limited Not adjustable Adjustable Not adjustable Range (degrees) -10 - 120 10 - 120 0 - 120 0 - 120(fixed) Cost Low Moderate Moderate High

35. Selected design concept Concept 3 was chosen as the final design Figure 3.1: Line diagram of the chosen conceptual design

36. Comparison of chosen concept with Kinematic model of the lower limb Figure 3.2: Chosen conceptual design Figure 3.3: Slider crank mechanism

37. Comparison of chosen concept with Kinematic model of the lower limb Figure 3.4: Superposition of concept 3 with Kinematic model of the lower limb To provide better support to the lower limb and the knee joint To accommodate length adjustments for knee and shank

38. 3D sketch of the selected concept

39. Methods and Methodology Objective-4: To carry out kinematic analysis, dynamic analysis and detailed design of the portable CPM

40. Selection of material Required characteristics of material High strength Low weight Machinability Rigidity Toughness Resistance to rust

41. Selection of material (contd.) Available materials possessing the required characteristics: Mild steel Aluminium Alloys Stainless Steel

42. Selection of material (contd.) Material chosen Stainless steel grades SAE 316 Widely used in healthcare devices Constituents of SAE 316 Chromium (between 16–18%) (Provides resistance to rust) Nickel (10–12%) Molybdenum (2–3%) Small (<1%) quantities of silicon, phosphorus and sulfur

43. Selection of material (contd.) Properties of SAE 316 High strength Low weight Machinability Rigidity Toughness Resistant to rust and other factors Figure 4.1 : SAE 316 Hollow pipes

44. Chosen concept for proposed CPM machine Figure 4.2: Planar mechanism of combination of four-bar and slider crank mechanism with ball screw drive Figure 4.3: Representation of two parallel mechanism of combination of four-bar and slider crank mechanism with ball screw drive

45. Simplified mechanism of the proposed CPM machine Figure 4.4: Simplified mechanism of the proposed CPM machine Slider crank mechanism is the driving mechanism Simplified for purpose of analysis

46. Acceleration analysis of lower limb Data used Maximum data set of length and weight Input 4 different speeds of CPM therapy Methods Manual calculations using Graphical method Simulation using ADAMS-View Results Linear velocities of thigh, shank and foot Acceleration of foot

47. Data used: Table 1: Maximum data range for the anthropometric data of human leg Table 2: Maximum data set for the weight of human leg Measures/Units Thigh length Shank length CG of thigh from the hip CG of shank from the knee Inch 19.11 19.188 8.275 8.308 cm 48.54 48.74 21.018 21.103 Weight of thigh Weight of shank Weight of foot 8.505 kg 3.848 kg 1.154 kg

48. Input given: Different speeds at which CPM therapy is carried out Knee Flexion angle considered 120 degrees  

49. Methods: Manual calculations using Graphical method O- Hip joint OA- Thigh referred to as Crank A- Knee joint AB- Shank referred to as Connecting rod B- Foot referred to as Slider F Thigh - Weight of the thigh acting at its CG F Shank - Weight of the shank acting at its CG Figure 4.5: Kinematic diagram of human leg

50. Graphical method: For maximum input speed 750 degrees/min Figure 4.6: Position Analysis of Human lower limb Figure 4.7: Velocity diagram for input speed 0.218 rad/s Figure 4.8: Acceleration polygon for input speed0.218 rad/s

51. Results of Graphical method:  

52. Simulation method: Figure 4.9: Kinematic model of Human lower limb constructed on ADAMS-View Two links representing thigh link and shank link are created using rigid link option Three revolute joints Ground and Thigh Thigh link and shank link Shank link and slider One translational joint Slider and the ground

53. Simulation method (contd.) Figure 4.10: Simulation control dialog and input motion dialog  

54. Results of Simulation method: Figure 4.11: Plot of velocity of slider and connecting rod against knee flexion angle for input speed 750 degrees/min Figure 4.12: Plot of acceleration of slider and connecting rod against knee flexion angle for input speed 750 degrees/min

55. Validation of results: Angular velocities Analytical results Simulation results Angular velocities Analytical results Simulation results Table 3: Comparison of manual and simulation results for acceleration analysis

56. Slider Velocity and acceleration plots: Figure 4.13: Slider velocity against Knee flexion angle at various input speed Figure 4.14: Slider acceleration against Knee flexion angle at various input speed

57. Dynamic Force Analysis of lower limb Data used Maximum data set of length and weight Input Maximum Input speed of CPM therapy 750 degrees/min Knee flexion angle 120 degrees Methods Manual calculations using acceleration polygon Results Inertia forces at each link

58. Manual calculations using Acceleration polygon: Figure 4.15: Acceleration polygon at input speed 750 degrees/min Table 4: Acceleration at CG of each link Acceleration at CG of crank Acceleration at CG of connecting rod Acceleration at CG of slider Acceleration at CG of crank Acceleration at CG of connecting rod Acceleration at CG of slider

59. Results:  

60. Static Force Analysis Data used Maximum data set of length and weight Input Knee flexion angle of 120 degrees Methods Manual calculations using Graphical method Simulation using ADAMS-View Results Joints forces in the system Force experienced by slider

61. Static force analysis (contd.) Figure 4.16: Kinematic diagram of human leg F Thigh - Weight of the thigh acting at its CG F Shank - Weight of the shank acting at its CG F Foot - Weight of the foot acting at its CG F T - Vector sum of weight of thigh and inertia force acting at CG of thigh F Sh - Vector sum of weight of shank and inertia force acting at CG of shank F Sl - Vector sum of weight of foot and inertia force acting at CG of foot F 1 - Total force acting at CG of thigh F 2 - Total force acting at CG of shank

62. Manual calculations by Graphical method: Case 1: Consider weight at CG of thigh and neglect weight at CG of shank Configuration diagram Figure 4.17: Configuration diagram for Case 1

63. Graphical method (contd.): Vector sum of weight of thigh and inertia force at crank: )  

64. Graphical method (contd.):  

65. Graphical method (contd.): Thigh link weight calculations: Figure 4.18: Simplified mechanism at differently oriented links  

66. Graphical method (contd.): Material properties-  

67. Graphical method (contd.): Vector sum of weight of foot and inertia force at slider: At slider ) )  

68. Graphical method (contd.): Figure 4.19: Link 3 represented as two-force member Figure 4.20: Link 2 represented as three-force member Figure 4.21(a ): Link 4 represented as three-force member Figure 4.21(b ): Force polygon developed for link 4  

69. Graphical method (contd.): Case 2: Consider weight at CG of shank and neglect weight at CG of thigh Configuration diagram Figure 4.22: Configuration diagram for Case 2

70. Graphical method (contd.): Vector sum of weight of shank and inertia force at connecting rod: )  

71. Graphical method (contd.):  

72. Graphical method (contd.): Thigh link weight calculations: Figure 4.23: Simplified mechanism at differently oriented links  

73. Graphical method (contd.): Material properties-  

74. Graphical method (contd.): Figure 4.24: Link 2 represented as two-force member Figure 4.25: Link 3 represented as three-force member Figure 4.26(a ): Link 4 represented as three-force member Figure 4.26(b ): Force polygon developed for link 4  

75. Results of Graphical method: From Case 1- From Case 2- Superimposing the above values, we obtain the total axial slider force  

76. Simulation method by ADAMS-View: Inputs for simulation model   Figure 4.27: Model of planar mechanism in ADAMS software

77. Simulation method (contd.): Figure 4.28: Specifying the step function on ADAMS software Figure 4.29: Specifying the simulation cycle time Calculation of time required to complete one full cycle at crank angle 60 degrees:  

78. Results of Simulation method: Figure 4.30: Plot of Force (N) Vs. Crank Angle (Degrees)  

79. Validation of results: Forces Manual calculations using graphical method Simulation method using ADAMS-View 27 N 29.1 N Forces Manual calculations using graphical method Simulation method using ADAMS-View 27 N 29.1 N Table 5: Comparison of results obtained from manual calculations and simulation method

80. Design of link   Thigh length (inch) Shank length (inch) CG of thigh from hip (inch) CG of shank from knee (inch) Weight of thigh (kg) Weight of shank (kg) Weight of foot (kg) Minimum 13.23 13.284 5.729 5.752 7.202 3.279 0.812 Average 16.494 16.5614 7.142 7.171 7.8535 3.5635 0.983 Maximum 19.11 19.188 8.275 8.308 8.505 3.848 1.154 Table 6: Anatomical data of the human leg (Winter, 2005 )

81. Design of link (contd.) Hip breadth (Sitting) 34.3-35.3 cm Hip breadth (Standing) 32.8-37.2 cm Hip circumference 71-112 cm Calf circumference 16.5-44 cm Knee girth 40-55.6 cm Foot length 22.6-25 cm Foot breadth 8.9-10.5 cm Thigh circumference 56.6±4.6 to 59.6±5.2 Table 7: Anthropometric data for Indian population (Kulkarni et al., 2011)

82. Design of link (contd.) ABEF: Slider crank mechanism BCDE: Parallelogram mechanism BC = DE CD = BE EF: adjustable length to accommodate knee length Figure 4.31: Simplified mechanism of the proposed CPM machine

83. Design of link (contd.) Links: ABC: Link-2 BEF: Link-3 Slider A: Link-4 AF: Link-1 (Fixed link) CD: Link-5 DE: Link-6 Link requirements Thigh link range=335 to 490 mm 155 mm Shank link range=335 to 490 mm 155 mm Range of motion requirements 0 to 120 degrees

84. Design of link (contd.) Figure 4.32: Simplified mechanism at differently oriented links EF – Difference between minimum and average length data BF – Average length data BE – Minimum length data BC – Distance between centre of mass of shank link and knee point (C) Link Lengths(mm) AC 490 CD 335 BF 335 BC 146 EF 90 ED 146 Table 8: Link lengths calculated

85. Design of link (contd.) Figure 4.33:Simplified Mechanism at full flexion angle Figure 4.34: Simplified Mechanism at extension angle Fails due to intersection of adjustable link and support link AC and BF links are to be modified

86. Design of link (contd.) Figure 4.35: Illustration of planar CPM mechanism at full flexion angle

87. Design of link (contd.) Link Length (mm) CD 335 IC 490 CH 335 BC 146 ED 146 BG 90 EF 90 HA 274 GE 251 HI 155 Table 9: Finalized link lengths

88. Design of link (contd.) Figure 4.36: Planar Mechanism at full extension Figure 4.37: Planar Mechanism at maximum flexion No intersection of links Safe design of link lengths

89. Design of link (contd.) Procedure carried out in determination of link Diameter and Thickness of link Identification of link that is severely loaded – Thigh link Load acting on the thigh link, P = 41.69 N Considering it as static condition and performing the analysis Analysis of Thigh link for different loading configurations The diameters of the link should be within the range of 15-25 mm Figure 4.38: Free Body Diagram of thigh link

90. Design of link (contd.) Calculation of stresses: Case 1: Considering thigh link as an uniaxial tension memb er  

91. Design of link (contd.) Calculation of stresses: Case 2: Considering thigh link as a simply supported beam FOS = 3 Maximum load acting P = 125 N Outer diameter of the link D = 18 mm Inner diameter of the link D i = 16  

92. Design of link (contd.) Calculation of Principal stresses: Maximum Distortion theory: Safe design  

93. Design of link (contd.) ANSYS Model details Type of analysis- Structural analysis Type of element- 2 Node 188 Number of elements - 134 Boundary conditions- At one end, 1 DOF constrained and the other end 3 DOF constrained Supports- Simply supported on both ends Loads- 125 N

94. Design of link (contd.) Figure 4.41: Thigh link as a beam modelled in ANSYS Figure 4.42: ANSYS results for Von-Misses stress

95. Selection of joints Revolute joint Figure 4.43: Revolute joint Figure 4.44: Components of the pin joint Figure 4.45: Adjustable links Adjustable links

96. Motor selection Drives the slider Salient features Type of motor RPM required Driving torque

97. Type of motor: Servo motors High speed High torque Precision Requires tuning Expensive Stepper motors Great precision Good control ability Stability Allows closed loop control with encoder Affordable solution

98. RPM required:   Figure 4.46: Plot of Stroke of the slider against the Knee flexion angle Figure 4.47: Plot of Velocity of the slider against the Knee flexion angle

99. Details of velocity of slider and stroke at various Knee flexion angles: Knee flexion angle (Degrees) Stroke (mm) Velocity of slider (mm/s) Time taken to complete the stroke (s) 120 182.16 90 200 150.87 1.32 60 358 105.73 3.38 30 452 55.4 8.15 490 0(at rest) Table 10: Velocity of slider and stroke values at various Knee flexion angles

100. RPM Calculation: Low value of lead for smooth operation   Knee Flexion Angle (Degrees) RPM (N) 120 5460 90 4526 60 3172 30 1662 Table 11: Values of calculated rpm for various Knee flexion angle

101. Driving torque: Where, Maximum force experienced by slider is 31.5 N This is increased by 3 times for safe design  

102. Selected motor: Figure 4.48: Stepper motor Table 12: Specifications of the chosen stepper motor Speed 6000 rpm Current 0.8 A Voltage 24-36 V Shaft Diameter 5 mm Holding torque 0.3 Nm

103. Ball screw Assembly of screw, nut with grooves and balls in rolling motion Motor drives the screw Rotary motion of screw is converted to linear motion of the nut Slider is mounted on the nut Features Reduced friction due to rolling motion 90% efficiency Accuracy and smooth operation Figure 4.49: Illustration of ball screw

104. Selection of ball screw: System parameters  

105. Selection of ball screw (contd.): End fixity Refers to screw end support Fixed-fixed is chosen High rigidity High speed capability Ability to support buckling load Nut driven application Support bearings Angular contact thrust bearings Co-efficient of Friction=0.002  

106. Selection of ball screw (contd.): Figure 4.50: Nomenclature of ball screw Table 13: Nomenclature of ball screw Naming Dimension represented Diameter of the Nut Ball circle diameter Nominal diameter Root diameter Nut length Naming Dimension represented Diameter of the Nut Ball circle diameter Nominal diameter Root diameter Nut length

107. Selection of ball screw (contd.): Table 14: Specifications of the ball screw selected 15 mm 2 mm 3 kN 2-6 kN 27 mm 14 mm 16 mm 29 mm 15 mm 2 mm 3 kN 2-6 kN 27 mm 14 mm 16 mm 29 mm

108. Selection of ball screw (contd.): Support bearings Plummer housing angular contact bearing Rigidity Ability to withstand heavy loads Easy mounting Ease of maintenance Table 15: Specifications of the angular contact bearing 16 mm 12.2 kN 12.8 kN 37 mm 16 mm 12.2 kN 12.8 kN 37 mm

109. Selection of ball screw (contd.):  

110. Selection of ball screw (contd.): The ball screw is checked to meet criteria of critical speed, buckling load and life  

111. Selection of ball screw (contd.): Applying Factor of Safety to this,  

112. Selection of ball screw (contd.):  

113. Control system Control requirements Knee angle Speed Time of operation- Hold time

114. Control system (contd.): Figure 4.51: Block diagram of the control system

115. Components of control system: Microcontroller Figure 4.52: Arduino Nano Table 16: Specifications of Arduino Nano Microcontroller ATmega328P- 8 bit AVR family microcontroller Operating voltage 5 V Recommended Input Voltage 7-12 V Analog Input pins 6 (A0-A5) Digital Input/output pins 14 Flash memory 32 KB (2 KB is used for Bootloader) Frequency 16 MHz

116. Components of control system (contd.): Motor driver Figure 4.53: L298N motor driver Table 17: Specifications of L298N motor driver Driver chip Double H Bridge L298N Motor Supply Voltage (Maximum) 46 V Motor Supply Current (Maximum) 2 A Logic Voltage 5 V Driver Voltage 5-35 V Driver Current 2 A Logical Current 0-36 mA Maximum Power 25 W

117. Components of control system (contd.): Rotary encoder Figure 4.54: Rotary encoder Table 18: Specifications of Rotary encoder Brand Omron Shaft Diameter 6 mm Diameter 40mm Pulses Per Revolution (PPR) 360, 1000, 1024 Output NPN, PNP, Line Driver

118. Components of control system (contd.): Limit switch Figure 4.55: Position limit switch Table 19: Specifications of Limit Switch Operating frequency 120 ops/min Degree of Protection IP67 Brand Honeywell Switch Type Rotary Limit Switch Enclosure Metal

119. Components of control system (contd.): Rotary potentiometer Figure 4.56: Rotary potentiometer Table 20: Specifications of Rotary potentiometer Sensitivity Virtually infinite Potentiometer Supply Voltage (DC) 3.3-48 V Output Current (Maximum) 10 mA Angular sensing range 325-354 Shaft Diameter 6.35 mm

120. Bill of Materials Sl. no Components Cost in Rs. 1 Microcontroller 190 2 Motor driver 125 3 Rotary encoder 2000 4 Limit switch 2000 5 Rotary Potentiometer 2000 6 SAE 316 2500 7 Stepper motor 6000 8 Ball Screw 2000 9 Joints 1000 10 Miscellaneous 2000 Total 17815

121. Methods and Methodology Objective-5: To develop 3D model of the portable CPM machine

122. CAD Model Figure 4.57: Top view of designed CPM machine Figure 4.58: Right side view of designed CPM machine

123. CAD Model (contd.): Figure 4.59: Front view of designed CPM machine Figure 4.60: Isometric view of designed CPM machine

124. Results Material chosen- SAE 316 Maximum velocity of the slider= Maximum acceleration of the slider= Dynamic forces Maximum force experienced by slider=31.5 N  

125. Results (contd.) Diameter of link=18 mm Thickness of the hollow link=2 mm

126. Results (contd.) Motor selected Stepper motor of 6000 rpm and torque 0.3 Nm Ball screw 16 mm 10 mm Bearing size= 16 mm Components of control system Arduino Nano microcontroller L298N motor driver Omron Rotary encoder Honeywell Limit switch Rotary potentiometer  

127. Conclusions The proposed CPM machine employs: Mechanism- Combination of 4-bar and slider crank mechanism driven by ball screw Overall size=910 mm×350 mm×508 mm Weight=15.5 kg Range of speed= 30 dpm to 750 dpm Link variation Thigh link=335 to 490 mm Shank link=335 to 490 mm

128. Conclusions (contd.) Specification parameters Established specifications Achieved Range of motion 0-120 degrees 0-120 degrees Hold time Adjustable Adjustable with range of 0-10 seconds Speed Adjustable Adjustable with a range of 30 dpm to 750 dpm Treatment time Adjustable Adjustable from 30 minutes to 2 hours Shank length range 335-490 mm 335-490 mm Thigh length range 335-490 mm 335-490 mm Weight 14 kg 15.5 kg Features Universal, portable and remote controlled Universal, portable and remote controlled Price INR 15,000 INR 17,815 Specification parameters Established specifications Achieved Range of motion 0-120 degrees 0-120 degrees Hold time Adjustable Adjustable with range of 0-10 seconds Speed Adjustable Adjustable with a range of 30 dpm to 750 dpm Treatment time Adjustable Adjustable from 30 minutes to 2 hours Shank length range 335-490 mm 335-490 mm Thigh length range 335-490 mm 335-490 mm Weight 15.5 kg Features Universal, portable and remote controlled Universal, portable and remote controlled Price INR 15,000 INR 17,815

129. Summary of the Project Work Progress Objective No. Statement of the Objective Method/ Methodology Status 1 To review literature related to knee joint rehabilitation, CPM machine, applications of CPM Knee joint rehabilitation and application of CPM Different types of existing CPM machines Questionnaire design related to application of CPM to knee joint rehabilitation Data Collection from Physiotherapist Completed Completed Completed Completed 2 To develop complete product specification of portable CPM suitable for knee rehabilitation and develop different concepts K inematics of a CPM machine Functional requirements Complete product specification of CPM machine Conceptual designs Completed Completed Completed Completed

130. Objective No. Statement of the Objective Method/ Methodology Status 3 To select the best concept and develop 3D model of the portable CPM Preparation of selection matrix Rating of Concepts Concept Selection 3D model of selected concept Completed Completed Completed Completed 4 To carry out kinematic analysis, dynamic analysis and detailed design of the portable CPM Kinematic Simulation using ADAMS software Dynamic analysis using ADAMS Detailed design of various components of the mechanism Design drawings for each component and the assembly Preparation of Bill of Material Completed Completed Completed Completed 5 To develop 3D model of the portable CPM machine Modelling of various parts using CATIA Assembly of modeled parts using CATIA Drafting the proposed CPM Completed Completed Completed

131. References Dwornicka Renata, Dominik Ireneusz (2015), Design of Continuous Passive Motion Machine Based on Kinematic Model of Lower Limb, Applied Mechanics and Materials Vol. 712 (2015) pp 93-97 Ghadai , S. and Purohit , P.K., 2015.  Design and Development of a Continuous Passive Motion Device for Physiotherapeutic Treatment of Human Knee  (Doctoral dissertation), pp. 27-30. Trochimczuk , R. and Kuźmierowski , T., 2014. Kinematic analysis of CPM machine supporting to rehabilitation process after surgical knee arthroscopy and arthroplasty.  International Journal of Applied Mechanics and Engineering ,  19 (4), pp.841-848. Kulkarni, D., Ranjan , S., Chitodkar , V., Gurjar , V., Ghaisas , C.V. and Mannikar , A.V., 2011.  SIZE INDIA-anthropometric size measurement of Indian driving population  (No. 2011-26-0108). SAE Technical Paper.

132. References Sing Ki Kenric Lau, Kwong -Yuen Chiu,(2001) Use of Continuous Passive Motion After Total Knee Arthroplasty, The Journal of Arthroplasty Vol. 16 No. 3, pp 336-339 Somkiat Tangjitsitcharoen , Haruetai Lohasiriwat , (2019) "Redesign of a continuous passive motion machine for total knee replacement therapy", Journal of Health Research, Vol. 33 Issue: 2, pp 106-118 Thompson, J., 2008. Design, Construction, and Validation of a Cadaver Knee Motion Testing Device (Doctoral dissertation, The Ohio State University). Tangjitsitcharoen , S. and Lohasiriwat , H., 2019. Redesign of a continuous passive motion machine for total knee replacement therapy. Journal of Health Research. Driscoll, S.W. and Giori , N.J., 2000. Continuous passive motion (CPM): theory and principles of clinical application. Journal of rehabilitation research and development, 37(2), pp.179-188.

133. References (contd.) Winter, D.A., 2009.  Biomechanics and motor control of human movement . John Wiley & Sons. Rattarojpan , J. and Umchid , S., 2012, January. Design and development of touch screen based Continuous Passive Motion device for knee rehabilitation. In  The 4th 2011 Biomedical Engineering International Conference  (pp. 237-241). IEEE. Generic (2020). Arduino Nano ATMega328 Controller Board [Online]. Available at: ( https://www.amazon.in/Arduino-Nano-ATMega328-Controller-Board/dp/B089KPBNR6/ref=sr_1_21?dchild=1&keywords=arduino+nano&qid=1597045654&sr=8-21#detail_bullets_id ) [Accessed on 1 August 2020] Robodo (2020). Robodo L298N Motor Driver Module [Online]. Available at: ( https://www.amazon.in/Robodo-Electronics-Motor-Driver-Module/dp/B00N4KWYDE ) [Accessed on 1 August 2020]

134. References (contd.) Omron (2020). Omron Rotary Encoder for Industrial [Online]. Available at: ( https://www.indiamart.com/proddetail/omron-rotary-encoder-5673698373.html ) [Accessed on 1 August 2020] Honeywell (2020). Honeywell Limit Switch (SZL-WL-B-A01AH) [Online] Available at: ( https://www.amazon.in/Honeywell-SZL-WL-B-A01AH-Limit-Switch/dp/B075H8Q72P/ref=sr_1_2?dchild=1&keywords=honeywell+limit+switch&qid=1597072192&sr=8-2 ) [Accessed on 1 August 2020] Parsons, E., 2010.  Control system design for a continuous passive motion machine  (Doctoral dissertation, The Ohio State University). TE Connectivity (2020). Rotary Potentiometer TE Model # CAT-RDP0000 [Online] Available at: ( https://www.te.com/global-en/product-CAT-RDP0000.html ) [Accessed on 1 August 2020]

135. Thank You