Showing papers on "Stair climbing published in 1983"

Stair climbing devices

Abstract: A stair climbing device as well as a method of using the device. The device in a preferred embodiment is a wheelchair. The chair is mounted on a floating chassis having a wheel assembly (150, 200) at each corner, each wheel assembly (150, 200) consisting of a pair of wheels (160, 170, 180, 190) mounted on arms (161, 171, 211, 221), the wheels (160, 170, 180, 190) being drivable about their own axes (169, 179, 219, 229) and the arms (161, 171, 211, 221) being drivable about the common axis (121, 141) by which they are connected to the floating chassis. The chair portion is connected to the chassis via pivots at the front end of the device and by extensible cylinders (400) at the rear end of the device so that the chair can be kept horizontal whilst the chassis can become inclined as the wheelchair goes up and down stairs. The arrangement is such that the device can also be used to raise and lower the chair relative to the chassis while the chassis is remaining horizontal. Thus the front pivoted connection is via a linkage arm. The method of ascending and descending stairs is that the chair rolls along, preferably backwards, when the device is ascending stairs, until the rearmost wheel contacts the riser of the first step, this producing a signal in suitable sensors, and then the drive mechanism is arranged to rotate the arm of the then rearmost wheel of this first wheel assembly that contacts the first riser so that the arm rotates around the common axis to bring the wheel onto the tread of the first step and as soon as this contact is sensed this wheel is driven into the riser of the first step until contact is again sensed, the arm of this wheel is then rotated towards a vertical position which draws the now trailing wheel of this assembly up the step and then the rotating movement is carried out again. This sequence is carried out in turn with the front and rear assemblies and the front and rear wheels of each assembly until the device has reached the top of the stairs and all wheels sense only upward pressures.

Stair climbing wheel chair

Abstract: A self propelled wheel chair is adaptable to climbing and descending stairs and steep slopes. The wheel chair is foldable for transporting and storing. Operation on level ground is similar to the operation of a conventional wheel chair. The wheel chair is supported by caster wheels on the front corners and by spider wheels on the rear corners. Skids are mounted to the caster forks for stabilizing the front of the chair during climbing operations. The casters are mounted to parallelogram linkages on the front of the wheel chair. The parallelogram linkages move the casters down and forward for repositioning to the climbing mode. The spider wheels are rotatably mounted to four bar linkages on the wheel chair side frames. The spider wheels engage the stairs to propel and stabilize the wheel chair during climbing or descending of stairs. The four bar linkages sequence the repositioning of the spider wheels and casters for climbing. Weight is shifted to the spider wheels for climbing so that they can provide climbing forces without slipping. Propulsion and transition control and power are provided by individual hand wheels linked by chain drives to the spider wheels and transition linkages. Propulsion power for both conventional level operation and stair climbing operation is transmitted through the same hand wheels and spider wheels. The hand wheels are grounded to the wheel chair structure by no back brakes to brake the wheel chair linkages and spider wheels in place when the hand wheels are released by the passenger.

Stair-climbing hand truck

Abstract: A hand truck for powered raising and lower of an extremely heavy load comprises first and second frame members constructed of aluminum and mounted for relative longitudinal reciprocating movement. One of the members has a lip attached thereto for positioning the load thereon. The frame members are coupled by means for actuating the relative longitudinal movement. The actuation means is powered by a selectively engageable electric motor. Overload release clutch means is interposed between the motor and the actuation means to decouple the motor and actuation means whenever the load exceeds a predetermined amount.

Stair climbing vehicles

Abstract: A wheelchair capable of climbing a flight of steps has a cluster of rear wheels rotatably mounted on a member (19) which can pivot on a body (10) of the chair to move the rearwheels upwardly and downwardly and thereby compensate for differences in the levels of the surfaces on which the rear wheels and front wheels of the chair rest. The member (19) is pivoted automatically in accordance with differences between the rotation of front and rear drive elements.

Stair climbing trolley

Abstract: The provided with a stair-climbing device sack trolley is having in one hand, the wheels (11,12) driving the body (10) and relatively movable in the one hand, the tail (15) having support member divided. By a bearing on the traveling body, by an electric motor (23) via a reduction gear operated (24), crank drive (30/18) whose crank pin (18) engages the support part traveling body and support member are coupled together so that, when held stationary driving body of the supporting part is raised and adjusted during stationary support by supporting part of the traveling body with the wheels.

Multi-mode above-knee prosthesis controller

Abstract: In an effort to improve the mobility of above-knee (A/K) amputees, an active multi-mode control scheme has been developed and implemented on a laboratory restricted man-interactive prosthesis simulator system. The active multi-mode scheme includes separate control algorithms for each of three locomotion modes (level walking, stair climbing, and ramp climbing) and an automatic intent recognizer. The prosthesis is controlled to duplicate the kinematics of a normal knee in each locomotion mode. The intent recognizer identifies which locomotion mode the amputee intends to perform via a finite state approach and automatically selects the appropriate control algorithm. The scheme was tested by two young active amputees in locomotion trails. Both amputees could perform the active locomotion modes and transitions between locomotion modes without any major difficulties. Results were promising. The active level walking approach appears to be possible in a self contained prosthesis. Active stair climbing and active ramp climbing require more energy and power but allow step-over-step stair climbing and ramp climbing without nearly as much circumduction and vaulting as required with a conventional prosthesis. Transitions between locomotion modes were smooth and easy to perform. Active multi-mode control appears to be a promising method to expand the functions of A/K prostheses.