Showing papers on "Stair climbing published in 2004"

Rotating platform knees did not improve patellar tracking: a prospective, randomized study of 240 primary total knee arthroplasties.

Abstract: Renewed interest in mobile-bearing total knee replacement designs has been generated by the concept of self alignment and the suggestion that those designs can accommodate small mismatches in the rotational position of the tibial and femoral components. Self alignment might improve patellar tracking, decrease the prevalence of lateral retinacular release and postoperative patellar tilt or subluxation, improve knee flexion, and improve patellofemoral function during daily activities such as stair climbing. This prospective randomized study of 240 patients used a single posterior-stabilized femoral component and included three groups of 80 patients: an all-polyethylene group, a modular metal-backed group, and a rotating platform tibia group. The prevalence of lateral retinacular release was 3.8% in each group. The prevalence of patellar tilt was 5% (all-polyethylene group), 7% (modular metal-backed group), and 11% (rotating platform group). Preoperative motion was not significantly different and both the 3-month flexion (112°, 110°, and 108°) and 1-year flexion (116°, 117°, and 115°) were not significantly different among the all-polyethylene, modular metal-backed, and rotating platform groups, respectively. Preoperative stair climbing scores were not significantly different and both the 3-month (38, 41, and 35 points) and 1-year (44, 46, and 42 points) scores were not significantly different. In this prospective randomized study, the rotating platform knee design did not decrease the prevalence of lateral retinacular release or patellar tilt or subluxation and did not increase knee flexion or improve stair climbing ability at 3 months or at 1 year postoperatively when compared with a posterior-stabilized, fixed-bearing knee.

Stair climbing for humanoid robots using stereo vision

Abstract: For the fully autonomous navigation in a 3 dimensional world, a humanoid robot must be capable of stepping up and down staircases and other obstacle where a sufficient large flat surface can support the robot's feet. This paper presents methods for the recognition of stairs and a control architecture that enable the humanoid robot QRIO to safely climb up and down in its environment The approach is based on data captured by a stereo vision system and segmented into planar surfaces. From the segmented planes, stairs that can be climbed by the robot are extracted and fed to a control system which decides the action to be taken next. Experimental results on a staircase as well as climbing up and down a sill are presented.

Combination of treadmill and stair climbing machine

Abstract: A combination of treadmill and stair climbing machine includes a single roller supported on a shaft between two lugs on two sides of the frame of the combination and two rear ends of two pedals are respectively connected to the roller and supported on the two lugs Two front ends of the two pedals are respectively connected to two hydraulic cylinders A switch member is pivotably connected to a front end of the frame and can be set in a horizontal position when the combination is used as stair climbing machine, and an inclined position when the combination is used a treadmill An L-shaped plate is connected to the frame and each pedal has a connection plate which has two elongate holes in which two protrusions on each side of the L-shaped plate are movably engaged, such that the pedals are pivotably supported on the L-shaped plate when used as stair climbing machine

Research on leg-wheel hybrid stair-climbing robot, Zero Carrier

Abstract: It is greatly demanded that to develop a kind of stably stair climbing mobile vehicle to assist the physically handicapped in moving outdoors. In this paper, we first propose a novel leg-wheel hybrid stair-climbing vehicle, "Zero Carrier", which consists of eight unified prismatic-joint legs, four of which attached active wheels and other four attached passive casters. Zero Carrier can be designed lightweight, compact, powerful, together with its significant stability on stair climbing motion, since its mechanism is mostly concentrated in its eight simplified legs. We discuss the leg mechanism and control method of the first trial model, Zero Carrier I, and verify its performance based on the experiments of stair climbing and moving over obstacles performed by Zero Carrier I

Total knee replacement influences both knee and hip joint kinematics during stair climbing

Abstract: A gait analysis system was used to evaluate the kinematics of the hip and knee during stair ascending and descending after operation with total knee replacement. Patients with 5° varus/valgus alignment or less were selected randomly to receive either a flat or a concave tibial component with retention of the posterior cruciate ligament. Patients who had more than 5° varus/valgus alignment and/or an extension defect of 10° or more were selected randomly to receive the concave or posterior-stabilized tibial component with resection of the posterior cruciate ligament. Twenty patients and 17 controls were studied 1–2 years after the operation. Patients had abnormal kinematics during stair ascending and descending. Both knee extension and flexion were reduced. Hip extension tended to decrease, and decreased hip extension moment was noted.

Elderly obese women display the greatest improvement in stair climbing performance after a 3-week body mass reduction program

Abstract: OBJECTIVE: To investigate whether stair climbing performance and body composition are similarly affected by a body mass reduction (BMR) program in obese individuals of different gender, age and body mass index (BMI) level. DESIGN: Longitudinal, clinical intervention study entailing energy-restricted diet (5023–7535 kJ/day), nutritional education, psychological counselling and moderate physical activity (indoor cycling, outdoor walking, gymnastics routines, five sessions/week) during a 3-week period. SUBJECTS: A total of 466 male and 807 female subjects categorized as a function of gender, age (< vs ≥50 y) and BMI (< vs ≥40 kg/m2). MEASUREMENTS: Body mass, stair climbing time and power before and after the BMR program. Fat-free mass and fat mass were also evaluated by bioimpedance analysis, in a representative subgroup of 160 patients, to evaluate the relation between fat-free mass and power output. RESULTS: Body mass, fat-free mass and fat mass significantly decreased following the BMR program (P<0.001), with male subjects reducing body mass and fat-free mass more than and fat mass less than the female subjects. Stair climbing time decreased (P<0.001) and therefore anaerobic power significantly increased 9.7% after the treatment. The greatest improvement in stair climbing performance was observed in obese women aged ≥50 y. Significant inverse correlations were found between initial power or fat-free mass level and respective percent increases (R=−0.35/−0.37, P<0.001) and between BMR-induced percent changes in body mass and power (R=−0.13, P<0.001). CONCLUSION: Subjects with the lowest baseline level in stair climbing performance (and probably with the lowest amount of fat-free mass), that is, obese women aged more than 50 y, obtained the largest enhancement after the 3-week BMR program, likely improving overall functional capacities and resulting in greater independence during daily-living activities in such a population.

Stair climbing hand truck

Abstract: A hand truck for climbing stairs includes a frame having handles proximate a first end and at least two wheels proximate a second end. A stair climbing mechanism is engaged with the frame proximate the second end. The stair climbing mechanism has a motor and an output shaft having two ends drivingly connected thereto. At least two rotatable endless loop drive elements, generally parallel with respect to each other, are drivingly connected to the output shaft, one drive element at each end thereof. Each drive element includes at least one abutment member engaged with and extending outwardly therefrom. The motor drives the drive element to cause rotation of the abutment members, which interact with the stairs to lift the hand truck up the stairs.

Accelerometric activity identification for remote assessment of quality of movement

Abstract: This study examines acclerometric data collected during straight walking and stair climbing to assess a subject's mobility and activity level Small, wearable accelerometers allow these motion analysis techniques to be used in a remote monitoring or telemedicine program

Analysis on the Stair climbing Ability of Six wheeled Mobile Robot

Abstract: The PBJ 01 anti terrorism robot is a joint wheeled mobile robot, and it usually operates in an artificial environment in which most of the obstacles are stairs. This paper studies the stair climbing ability of the PBJ 01 anti terrorism robot. By taking into considerations of such aspects as geometry containing, the robot center of gravity (CG) and the influence of maximum pitching angle on the possible overturning of the roobt, the paper puts forwards the necessary condition of stairs for the robot to be able to climb. With this scheme, the robot can choose the right actions between getting across and avoiding the obstacles.

A Modularized Reconfigurable Pedrail Structure for Effective Stair Climbing

Abstract: A modularized reconfigurable pedrail is designed for movable surveillance and unstructured environment of buildings The robot can climb stairs by being recomposed to a little bulk(each module is 30cm long, 115cm wide and 11cm high) The principle for the tracked robot to climb stairs is analyzed in this paper and its moving ability and adaptability for various landforms is also proved by experiments

Treadmill and composite stair-climbing machine switching construction

Abstract: The utility model discloses a running machine and stair-climbing machine switching device, which consists of an external rack and a machine body. The external bracket is equipped with armrests, and the machine body consists of a computer starting mechanism, a rotating mechanism and inclined adjustment mechanism; the rotating mechanism is equipped with a running circulation belt at outer edge. The device is characterized in that unit plates with roller wheels can be formed at bottom of the running circulation belt by adjusting ascending and descending; when the unit plates are higher than unit plates of adjacent side, the two types of unit plates form a ladder structure; the switching device is used to achieve switching between a running machine and a stair climbing machine.

Object Stepping-on/down Feasibility of Humanoid Robots

Abstract: One motive for people to develop humanoid robots lies in their high mobility, like that of human being, which may be manifested by going upstairs/downstairs and negotiating obstacles by stepping-on/down or stepping-over. Due to the kinematics of the robot and the size of the objects, however, not all objects can be stepped on/down by the robot. In this paper, we address the possibility for a robot to step on/down a given object, considering the robot kinematics and the object size. We use a technique of global optimization under constraints to obtain the maximum height of the object that the robot can step on/down, keeping the balance and avoiding any collision between the robot legs and the object. This analysis provided us with necessary knowledge for the implementation of stair climbing and obstacle overcoming. It also provides an approach evaluating the mobility of humanoid robots

Stair climbing device

Abstract: The apparatus for the motorized driving at constant speed of stair-climbing carriages with wheel clusters, for transporting commercial loads, or carriages used in the manufacture of wheelchairs for the disabled, is of the type in which the axle (1) with the wheel clusters (2, 3) at its ends is operated by a motor/gearbox assembly (10, 14) with a direct-current electric motor (14) with two directions of rotation. The apparatus comprises means of any suitable type (19) that detect the speed of rotation of at least one preferably fast point of the kinematic chain connected to the said motor (14) and that generates an electrical signal proportional to this speed which is sent to a control unit (16) designed to ensure that when travelling up or down stairs, the axle (1) of the carriage rotates at a predetermined speed that is as far as possible constant.

Ring-type stair climbing assistance machine facilitating climbing stairs

Abstract: PROBLEM TO BE SOLVED: To facilitate climbing stairs safely and prevent an installed device from getting in the way of a walker. SOLUTION: By attaching a driving machine with a ring hanging down to a rail fixed on a ceiling, the device does not get in the way of a walker going up and down since the device is installed on the ceiling, and it is safe and easy for the walker to go up since the device is a ring type and is pulled before the device is pulled up. COPYRIGHT: (C)2004,JPO

Simple stair climbing device for wheelchair

Abstract: PROBLEM TO BE SOLVED: To enable climbing in an S-shaped meandering section and a steep slope section and enable high speed climbing in an ordinary section such as a straight section and a slope having a comparatively gentle grade. SOLUTION: In the special section such as the slope having S-shaped meandering, a curve part on stairs, a slope on which a degree of inclination is changed, and a steep angle inclination part on stairs, a monorail type climbing device is operated. This climbing device climbs at a low speed by an Abt-system mountain railroad system and enables comparatively high speed operation by a transmission system due to chain driving in the ordinary section such as the straight section and the slope having the comparatively gentle grade. COPYRIGHT: (C)2004,JPO

Stair climbing children cart

Abstract: The utility model discloses a stair climbing children cart, which is characterized in that a crawler system supporting rod is longitudinally fixed on each of both sides of the lower portion of a cart frame, two upright posts are vertically arranged on each supporting rod, two prize plates are movably arranged on both supporting rods. The fore and back prize plates are arranged on the fore and back crawler wheels respectively, and a tension spring is arranged between the supporting rod and the prize plate. The rear leg of the cart is movably connected with the rear part of the cart frame, which is provided with a rear wheel at the lower part and a rolling locking pin at the upper part. The top end is connected with a positive stop arranged on the cart frame. The rear leg of the utility model can be raised and lowered. When the rear leg is raised, the crawler system stands on the ground surface and the universal wheel and the rear wheel are suspended, therefore, the utility model has stable and reliable working performance, and the children cart can climb up on the stair smoothly.

Sensitivity to change : validity evidence of a partial- weight bearing lower extremity performance measure

Abstract: Study Design: A pre and post-test measure of six randomized lower extremity (LE) functional performance tests. Objectives: To determine whether valid inferences about LE performance could be obtained using a sliding incline apparatus. Background: Current functional tests require patients to bear full weight on their lower extremities, and are not indicated for acute recovery states that require a partial-weight bearing (PWB) status. Measuring LE performance early in the rehabilitation process is essential in determining an accurate prognosis. Two LE performance tests were designed to measure functional performance of individuals with PWB status using a commercially available sliding incline apparatus. Methods and Measures: Patients 18 years of age or older with LE dysfunction (n=21) participated. Diagnosis included: knee joint pathology, ACL reconstruction, TKA, patellofemoral dysfunction, and tibial plateau fractures. The PWB tests were preformed on a commercially available sliding incline apparatus. Subjects completed the following tests in a randomized order: a one-legged PWB 30 repetition squat test, one-legged PWB 20 second squat test, time to ascend stairs, time to descend stairs, distance of a onelegged hop, and walking speed. Subjects completed a pre-test initially and a post-test three to four weeks following treatment. Data Analysis: Two-way ANOVA was used to compare the rate of improvement between the uninjured and injured LE for each of the single legged tests (i.e., the two PWB tests and the hop test); paired t-tests were used to test for improvement on the stair climbing tests and the walking test. It was expected that the injured LE would improve at