Showing papers on "Stair climbing published in 2000"

Battery powered stair-climbing wheelchair

Abstract: A self-propelled battery-powered wheelchair replaces an ordinary wheelchair and provides improved access to homes. The wheelchair includes stair climbing, slope climbing, and reclining while requiring only minimal driver skill and strength. Operation on level ground is similar to the operation of a conventional wheelchair. Support for normal operation is provided by a rear caster and wheels on the front corners. Its compact width and length enable negotiating narrow doorways and turning in small spaces. To ensure stability on stairs, moveable skids are mounted to the four corners of the wheelchair. Parallelogram linkages move the front skids down and forward during climbing. Another parallelogram linkage moves the caster and rear skids up and at an angle during climbing. The wheelchair is steerable on stairs as needed to align with the stair path and accommodate slightly spiraling stairs. The wheelchair accommodates stair steps of different riser heights and tread lengths. A pair of spoked or spider wheels with small wheels at the ends of the spokes are rotably mounted to the sides of the wheelchair. The spider wheels engage the stairs to propel and stabilize the wheelchair during climbing of stairs. Methods are provided to monitor and control the pitch attitude of the wheelchair and nearness of wheelchair supporting components to the stairs. Motion and control are provided by electric motors, sensors, a computer, and driver inputs. Propulsion power for conventional level operation, slope climbing, and stair climbing operation is transmitted through the same motors and wheels.

The Case Western Reserve University hybrid gait orthosis.

Abstract: Six individuals with paraplegia and injury levels from C-1 through T-12 participated in a study to evaluate the functional capabilities of a hybrid gait orthotic system Subjects learned to use a custom-built reciprocal gait orthosis without stimulation and with electrical stimulation activating between 4 and 16 muscles Outcomes were scored with standard physical therapy measures including the Tinetti test, a timed get up and go, Borg rating of perceived exertion, and the Functional Index Measure (FIM) Subjects have successfully accomplished sit to stand, stand to sit, and walking maneuvers measured for time, speed, and distance Metabolic consumption was measured for walking in the light work region of 51 to 65 metabolic equivalents (METs) 1 MET = 35 ml of O2/kg/min with hybrid gait orthosis Perceived exertion as measured with the Borg scale indicated that use of the bracing system with functional electrical stimulation was "easier" than without stimulation Subjects using a hybrid system were able to walk up to 350 m at average speeds of 025 m/s Walking speeds for 30- and 50-meter distances reached 045 m/s Additionally, walking distances with stimulation were 2 times greater than those of non-stimulated reciprocal gait FIM scores indicated that system users would become slightly more independent in mobility Results were used to determine the most useful brace modifications for the next generation of Case Western Reserve University hybrid gait orthoses to allow an expanded function that will include stair climbing and side stepping

Vision-guided autonomous stair climbing

Abstract: The Tactical Mobile Robot (TMR) program calls for autonomous mobility in an urban environment. Among all man-made structures which pose as barriers for a mobile robot stairs are the most obvious and ubiquitous structure an autonomous urban robot needs to be able to handle. The Urban II chassis by IS Robotics provides a mechanically simple and elegant way to enable the stair-climbing capability. This paper addresses the issue of using computer vision techniques to control the vehicle automatically when climbing stairs. The algorithm is based in detecting stair edges from a monocular sequence. It is shown that the position and orientation of the stair edges can be used to compute the 3D orientation and position of the vehicle relative to the stairs. Robust examination of those parameters is the key to reliable performance. A combination of techniques such as medium filtering, histogram peak finding, outlier rejection and weighted average are shown to be effective in practice. At the end, we briefly explain our work-in-progress in automatic corner-turning in climbing multiple flights of stairs.

System and method for stair climbing in a cluster-wheel vehicle

Abstract: A system and method for operating a device in ascending or descending stairs. The device has a plurality of wheels rotatable about axes that are fixed with respect to a cluster arm, where the cluster arm itself is rotated about an axis so that wheels rest on successive stairs. The wheels and cluster arms are controlled according to separate control laws by a controller. Whether the device ascends or descends the stairs is governed by the pitch of the device relative to specified front and rear angles. Shifting the center of gravity of the combination of device and payload governs the direction of motion of the device.

A mode-based sensor fusion approach to robotic stair-climbing

Abstract: We present a software architecture used to demonstrate the ability of a tank-like robot to climb multiple flights of stairs. The algorithm we use incorporates intelligent sensor fusion and a hierarchical modular structure. This structure simplifies the overall design, enables reuse, and promotes extensibility. The modular nature of the design also allows for a variety of user interface modes with different levels of user autonomy. The robustness of our algorithm allows us to ascend and descend stairs autonomously in many environments with different textures and configurations, all with minimal adjustment to the algorithm. Our approach develops an extensible sensor and task model that reduces the effect of sensor inaccuracies and geometric constraints, uses minimal information about the environment, and utilizes characteristic features in the environment for navigation.

Walking, chair rising, and stair climbing after total knee arthroplasty: patellar resurfacing versus nonresurfacing.

Abstract: During the past decade, the technology and design of knee joint prostheses has progressed considerably. However, there is still much controversy on whether resurfacing the patella during routine total knee arthroplasty (TKA) is necessary. This study compares the biomechanics of the lower limb in patients after TKA with and without patellar resurfacing during level walking, stair climbing, and chair rising. Eighteen patients who underwent TKA by two different surgeons using the same prosthesis were studied after full rehabilitation while walking, stair climbing, and chair rising. Patients were divided between those who were resurfaced and those who were not resurfaced. An aged-matched control population was recruited for comparison. The Hospital for Special Surgery Knee Rating Scale was used to gather clinical information. Kinematic and kinetic parameters were collected using a 5-camera Motion Analysis System and an AMTI OR6-5 force platform. For level walking, patients were asked to walk at a self-selected speed down an 8-m walkway. For stair climbing, patients were asked to climb a 4-step staircase without handrail support and for chair rising, patients were asked to rise from a chair that was positioned at the height of their knee joint line. Five trials for each side were recorded for averaging and statistical analysis. Temporal-spatial parameters and kinematic and kinetic variables at the knee joint were tested for significance using the repeated measures analysis of variance (ANOVA). There were no significant differences in the biomechanics of walking, stair climbing, or chair rising between patients after TKA with and without a resurfaced patella.

Composite fitness machine

Abstract: A composite fitness machine is provided which is readily adapted to serve as a single integrated device for simulating a walking, stair climbing, and cross country skiing exercise, which can be chosen by a user as desired The device has right and left endless foot platforms each comprising a movable frame, a roller, and an endless belt The platforms are each suspended from suspension frames provided on an upright frame affixed vertically to a base in order to simulate a cross-country skiing exercise with the platforms being suspended in a generally horizontal configuration by means of parallel links or triangular links The platforms can also be arranged so that they are alternately pivoted to simulate a stair climbing exercise Furthermore, the platforms can also be fixedly inclined slightly rearwards to be flush with each other in order to simulate a walking exercise

Towards Dynamic Step Climbing For A Quadruped Robot with Compliant Legs

Abstract: Animals are capable of breathtaking dynamic rough terrain mobility – far superior to that of any existing wheeled, tracked or legged robot. Our research aims to endow our legged robots with increasingly capable dynamic abilities. In this paper, we are presenting a controller that expands the rough terrain abilities of our four-legged robot, Scout II, to dynamic step climbing. Dynamic step climbing permits not only faster operation, but also requires fewer actuated degrees of degrees of freedom than statically stable operation. Indeed, our quadruped model features, like our experimental platform, only one actuator per leg. Ongoing work will expand this behavior to dynamic stair climbing an essential capability for applications in indoor and urban settings.

Stair climbing vehicle

Abstract: In a stair-climbing vehicle for negotiating steps, ledges and stairs comprising a vehicle body having wheel support arms mounted thereon at opposite sides and in spaced relationship so as to be pivotable about a wheel support arm shaft and wheels rotatably mounted on the free ends of the wheel support arms, climbing arms are supported on the vehicle pivotable about the pivot axes of the support arms. The climbing arms are linearly extendable for moving the wheels from one step to the next, one wheel, one wheel support arm and one climbing arm forming together a stair climbing module.

Multi-functional cart for travelling up flight of stairs

Abstract: The utility model relates to a multi-functional stair climbing vehicle. Friction movement is generated by a stair climbing wheel and the ground surface or the stair edges of stairs. The stair climbing wheel is prompted to move forwards smoothly. The utility model alters that the previous vehicle can not run along stairs. The wheel of the stair climbing vehicle is led to cross the stairs, which avoids that vertical surfaces of the stairs hinders the wheel. A moving adhesive tape is used to form a rotation plane which is laid among the stair edges. (A plane can be determined if two parallel lines among the stair edges.) The stair climbing vehicle can smoothly move on the stair edges. The utility model is convenient for people to go upstairs and go downstairs to pull and convey articles or to carry babies. The multi-functional stair climbing vehicle can also run. Goods can be loaded and unloaded on the vehicle. People's inconvenience of carrying the articles to go upstairs and go downstairs is relieved. Work efficiency is improved.

Wheelchair with stair climbing device

Abstract: The wheelchair with a stairs climbing device has a drive unit (A) containing at least one drive motor (M) and on each side two running wheels (L) spaced apart on parallel axles. For climbing stairs, the axles are synchronously movable by a climbing drive connection to the drive motor to and from each other. Both axles on each side are supported in a two-armed pinion (S). The two pinions are commonly rotatable around a parallel positioning axis (X) through at least 360 degrees in the drive unit. The drive unit has at least one further selectively activatable level drive connection from the drive motor to at least one of the wheels.

Design of multi-joint tracked robot for adaptive uneven terrain driving

Abstract: Various driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

System and method for stair climbing in cluster-wheel vehicle

Abstract: 一种操纵上下楼梯的装置的系统和方法。 A system and method for manipulating the device up and down stairs. 该装置具有多个可绕着相对于轮组臂固定的轴线旋转的轮子，而轮组臂本身可绕一个轴线旋转，这样轮子就在相继的台阶上停留。 The device has a plurality of rotatable about an axis of rotation relative to the fixed wheel wheel arm, while the wheel arm itself rotatable about an axis of rotation, so that the wheels will remain in the successive steps. 轮子和轮组臂由控制器根据不同的控制规则控制。 Wheels and wheel arm controlled by the controller depending on the control rules. 该装置是上还是下楼梯取决于装置相对于给定的前角和后角的倾角。 The device is on or down the stairs depending on the unit with respect to a given rake and relief angles of inclination. 装置和负载的整体重心的移动决定该装置运动的方向。 Moving the center of gravity of the whole device and a load device determines the direction of the movement.

Stair-climbing device, particularly for wheelchairs

Abstract: The running gear has two tracked units (3.1,4.1) each with a track chain formed into an endless loop that passes over a guid assembly, raised supports on its outer side and components which can pivot around an axis perpendicular to the running track. Th guide assembly is constructed with components allowing pivoting in the direction of traveling on a curve and interlocks by protrusions and recesses.