Showing papers on "Stair climbing published in 1994"

Stabilization of a mobile robot climbing stairs

Abstract: Remotec's Andros VI mobile robot is physically capable of ascending and descending stairs. However, the teleoperated control of the robot climbing stairs is difficult, as the operator's feedback is limited to visual and audio cues only. Our analysis and experiments show that this tracked mobile robot is inherently unstable in open-loop stair climbing, and the robot under telemanipulation is prone to falling. We describe the design and validation of a feedback system for automatic heading control for stabilization of stair climbing. The design incorporates solid-state attitude sensors as inputs to an on-board multiprocessor system. We have experimentally demonstrated stability of the robot in stair climbing, even in the presence of large disturbances and noise. With the addition of the on-board computing, control of the robot is elevated from teleoperation to supervisory control. >

The Relationship of Self-Efficacy and Perceived Well-Being to Physical Activity and Stair Climbing in Older Adults

Abstract: (1994). The Relationship of Self-Efficacy and Perceived Well-Being to Physical Activity and Stair Climbing in Older Adults. Research Quarterly for Exercise and Sport: Vol. 65, No. 4, pp. 367-371.

Design of a quadruped walking vehicle for dynamic walking and stair climbing

Abstract: This paper discusses the design of a quadruped walking vehicle for walking dynamically at high speed and climbing ordinary stairs (30-40 o ). To realize these requests, new mechanisms are introduced, which are (1) a prismatic joint leg that does not interfere with the steps of a staircase and which performs a cylindrical coordinate motion with good energy efficiency, (2) an articulated body structure having a node that copes with a steep staircase, (3) a dual mode transmission system which can swing a leg with high speed and can generate a large supporting force, and (4) a non-linear type foot force sensor having a wide dynamic range. The effectiveness of these considerations is verified by walking experiments using the trial-manufactured TITAN VI

Stair climbing exercise device capable of playing with a video game machine

Abstract: A stair climbing exercise apparatus capable of playing with a video game machine including a body portion having a plurality of steps each of which is formed with a plurality of recesses, each of the recesses having a plurality of cavities, a pedal fitted in each of the recesses and having a plurality of protuberances adapted to be received in the cavities, a spring disposed within each of the cavities, and a micro-switch arranged in each of the recesses and under the pedal.

Stair climbing vehicle

Abstract: A vehicle which goes up and down stairs includes a vehicle body (101), front and rear wheels (102) and (103) provided at the front and rear of the vehicle body (101), respectively, front and rear auxiliary wheels (105) and (107) for lifting up or down the front and rear wheels (102) and (103) by one step of stairs, respectively, a driving unit for driving each wheel, a pivoting unit for pivoting the front and rear auxiliary wheels (105) and (107), sensors (121) to (124) for detecting a riser portion of stairs, and a control unit (120) for controlling the driving unit and the rotating unit in accordance with results of the sensors (121) to (124). Since the vehicle goes up and down stairs by rotation of the auxiliary wheels (105) and (107), a corner portion of the step of stairs is not damaged while the vehicle goes up and down stairs.

階段昇降移動ロボットto-rover iii の開発研究

Abstract: A mobile robot named TO-ROVER III which can go up and down stairs has been developed. The driving unit mechanism is constructed by a star-like arm, 6 wheels attached at each arm tip, and planetary gears through which a motor drives the arm or wheels. TO-ROVER III has two driving units and a caster with similar mechanism of no planetary gears and no motor. The features of TO-ROVER III are (1) it has only two degrees of freedom, the same as an ordinary wheel type mobile robot, (2) the mode of running on the flat ground and the mode of going up and down stairs are automatically changed, (3) any control is not necessary for a mode change and stair climbing, (4) it can also go up and down helicoidal stairs, (5) motor torque and force for climbing up stairs is smaller than the ordinary wheel type mobile robot, (6) stair climbing motion is quite stable. Kinematics and dynamics of TO-ROVER III have been analyzed, and the experiments show smooth motion in running, turning and climbing up and down stairs.

Stair Climbing in Young Boys: A Longitudinal Study

Abstract: This longitudinal investigation examined the shift from use of a marking time to an alternating stepping pattern by young children. A set of twin males was videotaped between ages 37 and 46 months climbing stairs of 3.8-17.8 cm height. One boy began to alternate consistently on the highest steps at 41 months, the other at 46 months. Anthropometrics (leg lengths) and a measure of foot overshoot (maximum height of the foot over the stair) were used to investigate the timing of the shift for the 2 boys. Magnitude of overshoot decreased with age and with increased use of the more advanced pattern. Immature balance and an initial need to visually guide the foot to the next step may be important factors in the timing of the pattern shift.

Cart for stair climbing and walking on ground

Abstract: The utility model belongs to a hand-operated vehicle, especially a double-purpose cart for climbing stairs and flat ground which is suitable for building residents to convey heavy things and personnel movably A driving wheel is a planet wheel, and a cart frame is a thing carrying frame and a sitting frame The driving wheel can be matched and connected with the cart frame as a whole by a fixed member The utility model is not only suitable for carrying the heavy things, but also suitable for carrying the personnel The utility model is particularly suitable for carrying goods and the personnel in a short distance by building residents in daily life, and other government offices, schools and enterprises The utility model is a double-purpose cart for climbing the stairs and the flat ground with wide application

Walking type stair climbing cart

Abstract: The utility model relates to a walking type stair climbing cart which is special for stowage conveying on walking stairs. The utility model is composed of a pedestal, two pairs of toothed racks with the cross section shape of a basin, an electric motor, an object placing table, internal gears, etc. The bottom of the two pairs of toothed racks are provided with teeth. The toothed racks are driven by crank pin joints and the electric motor and can walk on stairs. The bottom of the object placing table is provided with an upright stanchion hung with heavy objects, and the both sides are each provided with a microswitch to adjust the gradients of the object placing table to maintain in a horizontal position. The cart has the function of climbing stairs, overcomes the defects that the present bogies can not climb stairs and have to be conveyed with human power, replaces human power with electric machinery, raises work efficiency and can load 200 kg objects with stable walking.

Net energy cost of stair climbing and ambulation in subjects with hemiplegia

Abstract: A Kofranyi‐Michaelis respirometer has been used to measure net energy expenditures in 16 women and 52 men undergoing rehabilitation following hemiplegia. Measurements were made during seated rest, standing, comfortable ambulation, and ascent and descent of a laboratory staircase. Because tasks were performed more slowly than in the able‐bodied, all data were expressed as net oxygen cost (ml/[kg.m]) relative to seated rest. Resting metabolism was slightly reduced by hemiplegia (3.1 ± 0.7 and 3.4 ± 0.7 ml/[kg‐min] in men and women, respectively). Stair climbing was performed with a low net mechanical efficiency (6 to 8%). The metabolic cost of ambulation was also high relative to the able‐bodied individual, particularly at slow speeds of walking. Above a pace of 40 m/min in women and 50 m/min in men, the energy cost was only 10 to 20% higher in some hemiplegics than in the able‐bodied, but because of age and disability, many of the subjects with hemiplegia could not attain such speeds. We conclude that alth...

Stair climbing handtruck

Abstract: The invention relates to a handcart for transporting loads over steps, there being provided between its load-supporting element (2) and frame (3), which can move relative to each other, a fixing device (4) by means of which the frame (3) and load-supporting element (2) can be secured relative to each other. The handcart is provided with an independent support part (45). This can be attached releasably to the load-supporting element (2) or to the frame (3).

Stair-climbing aid

Abstract: Stair-climbing aid to be placed on treads of an existing flight of stairs. The height of said aid is approximately half the difference in height between adjacent original treads, so that, per step, half the difference in height has to be overcome. In order to provide for applicability to different types of stairs, it is proposed to construct the stair-climbing aid such that its height is adjustable, so that said aid is of universal applicability. However, it has been found that it is also important that the depth of the stair-climbing aid is adjusted to the circumstances. Therefore, this stair-climbing aid is constructed such that it is likewise adjustable in the horizontal direction.