Showing papers on "Stair climbing published in 2005"

Training effects of short bouts of stair climbing on cardiorespiratory fitness, blood lipids, and homocysteine in sedentary young women

Abstract: Objectives: To study the training effects of eight weeks of stair climbing on Vo 2 max, blood lipids, and homocysteine in sedentary, but otherwise healthy young women. Methods: Fifteen women (mean (SD) age 18.8 (0.7) years) were randomly assigned to control (n = 7) or stair climbing (n = 8) groups. Stair climbing was progressively increased from one ascent a day in week 1 to five ascents a day in weeks 7 and 8. Training took place five days a week on a public access staircase (199 steps), at a stepping rate of 90 steps a minute. Each ascent took about two minutes to complete. Subjects agreed not to change their diet or lifestyle over the experimental period. Results: Relative to controls, the stair climbing group displayed a 17.1% increase in Vo 2 max and a 7.7% reduction in low density lipoprotein cholesterol (p Conclusions: The study confirms that accumulating short bouts of stair climbing activity throughout the day can favourably alter important cardiovascular risk factors in previously sedentary young women. Such exercise may be easily incorporated into the working day and therefore should be promoted by public health guidelines.

Relationship between the inability to climb two flights of stairs and outcome after major non-cardiac surgery: implications for the pre-operative assessment of functional capacity

Abstract: Functional capacity is an integral component of the pre-operative evaluation of the cardiac patient for non-cardiac surgery. Stair climbing capacity has peri-operative prognostic importance. It may predict survival after lung resection and complications after major non-cardiac surgery. However, stair climbing cannot determine the aerobic metabolic capacity necessary to survive the peri-operative stress response. The potential benefits and current limitations of cardiopulmonary exercise testing to determine peri-operative aerobic capacity are discussed. Principles for the selection of an appropriate screening test of aerobic function are put forward.

The Chitranjan Ranawat Award: in vivo knee forces after total knee arthroplasty.

Abstract: Tibial forces were measured in vivo during the first year after total knee arthroplasty in a 66 kg, 80-year-old man Forces were measured during activities of daily living, rehabilitation, and exercise Peak tibial forces recorded during walking increased up to 12 months postoperatively (28 times body weight) Tibial forces correlated with increasing speed during treadmill walking Rising from a chair generated peak forces of 26 times body weight Stair descent generated higher peak forces than stair ascent (33 versus 29 times body weight, respectively) Exercising on a stair-climbing machine generated forces close to two times body weight whereas stationary bicycling generated even lower forces, near one times body weight In general, the tibial forces recorded during walking and stair climbing were lower than most predicted values These measurements can be used to validate in vitro and mathematical models of the knee This should lead to refined surgical techniques and to enhanced prosthetic designs that will improve patient function, patient quality of life, and longevity of total knee arthroplasty implants

Autonomous stair-climbing with miniature jumping robots

Abstract: The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Stair-climbing apparatus

Abstract: An apparatus for climbing and descending stairs or other obstacles has three flexibly connected sections and a pair of crawler belt systems on opposite sides of the unit. Each of the crawler belt systems comprised of three crawler belts are driven by one of a pair of motors that directly drives a pinion that engages two of the crawler belts, one of which then drives the last crawler belt through another pinion. The stair-climbing apparatus also includes a mounting platform for coupling a carrier device such as a wheelchair or a box. In order to provide cushioning and stability for movements from a horizontal surface to an inclined surface and vice versa, shock absorbers are provided between the three sections. A linear actuator is also provided to provide stabilization as well as the ability to raise and lower both the stair-climbing crawler unit as well as the wheelchair, providing three modes of operation including manually wheel driven mode, motor wheel driven mode, and motor crawler driven mode.

In vivo knee forces after total knee arthroplasty

Abstract: Tibial forces were measured in vivo during the first year after total knee arthroplasty in a 66 kg, 80-year-old man. Forces were measured during activities of daily living, rehabilitation, and exercise. Peak tibial forcesrecorded during walking increased up to 12 months postoperatively (2.8 times body weight). Tibial forces correlated with increasing speed during treadmill walking. Rising from a chair generated peak forces of 2.6 times body weight. Stair descent generated higher peak forces than stair ascent (3.3 versus 2.9 times body weight, respectively). Exercising on a stair-climbing machine generated forces close to two times body weight whereas stationary bicycling generated even lower forces, near one times body weight. In general, the tibial forces recorded during walking and stair climbing were lower than most predicted values. These measurements can be used to validate in vitro and mathematical models of the knee. This should lead to refined surgical techniques and to enhanced prosthetic designs that will improve patient function, patient quality of life, and longevity of total knee arthroplasty implants.

An invariant guiding stair descent by young and old adults.

Abstract: In this study the author compared the perception-action capability of young and old adults (respectively, mean age 22 and 62 years old) when descending stairs and examined the relevant task constraints that guide the action. It was found that old adults selected and descended stairs that were significantly lower than young adults and showed less hip joint flexibility. However, the performance parameter, defined as the ratio between the height of the stair and the distance taken by the stepping foot to the top edge of the stair, was invariant for both groups. Thus, despite different ability levels, young and old adults are constrained by the same perception-action invariant for guiding the act of stair descent.

Stair-climbing human transporter

Abstract: A transportation vehicle and methods for transporting persons, robots or cargo, and more particularly motorized vehicles, and methods for transporting over surfaces, including surfaces such as floors, roads, paths and sidewalks, and surfaces having obstacles or inclined surfaces and for enabling the ascending or descending of stairs without tilting while supporting a user or a load on a frame. The vehicle uses horizontal extending and retracting rods and vertical extending and retracting rods to pass over an obstacle or ascend or descend stairs. The horizontal extending and retracting rods are used as mechanisms to move the first set of ground contacting modules located to the fore of the vehicle or the last set of ground contacting modules located to the aft of the vehicle in a fore-aft plane to pass over an obstacle or to position the first set or last set of ground contacting modules upon a stair to be used for ascending and descending stairs. The vertical extending and retracting rods are used to raise or lower the frame, to raise or lower individual ground contracting members and to keep the vehicle stable.

Actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair

Abstract: Leg-wheel hybrid mobile vehicle has been regarded as the best combination and many of them have been presented recently because of the high terrain adaptability of legged walking robots on rough ground and the high mobility of wheeled mobile vehicles on flat terrain. We discuss the detailed actualization of safe and stable stair climbing and three-dimensional locomotion for wheelchair - with mainly indoor or ordered terrain environments - in mechanism sensor system and control method based on the developed leg-wheel hybrid mobile vehicle Zero Carrier I in this paper.

Stair climbing cart

Abstract: The present invention is directed to a cart for transporting cargo that is capable of climbing stairs. In the preferred embodiment, the cart has two three-wheel assemblies and a frame. The three-wheel assemblies are designed to rotate when contact is made with stairs, thereby allowing the cart to climb the stairs.

Stair climbing task of humanoid robot by phase composition and phase sequence

Abstract: A goal of this work is to propose an algorithm that generates extended task of humanoid robot to endure a large variety of performance. In this approach, it is likely that using "task" library, which is constructed by previous task is effective method to generate extended task of humanoid robot according to environment change. It could be realized by method adopting "phase" transition, defined as "phase sequence". Also, it would realize to plan a task that required for humanoid robot in environment change using re-composition and re-using of constructed phase without motion experiments and planning from scratch. We have been applied a previous phase of step ascending and walking task based on strategy of actual motion for humanoid robot task, stair climbing. In the connection of two tasks, we adopted third-order bezier curve, which can be transformed desired trajectory using modifying its control parameters. Furthermore, appropriate task transition operation for phase sequence method was applied by re-composition of phases as variation of designated environments. As a result, extended task, stair climbing, was realized by recomposing of two fundamental tasks. In conclusion, a proposed task generation algorithm was verified.

Gait Analysis and Total Knee Replacement

Abstract: The relationship between ambulatory function and the biomechanics of the knee was examined during activities of daily living including walking, stair climbing, and squatting into deep flexion. Each activity was characterized by a unique relationship between the primary motion (flexion) and secondary movements (including internal- external rotation, anterior-posterior displacement) that occur during the weight-bearing and non-weight-bearing phases of each activity. The results demonstrate that the secondary motion of the knee have an important influence on wear, stair climbing function, and the ability to achieve flexion during deep flexion. The short- and long-term outcomes of total knee arthroplasty require a better understanding of the relationship between the primary and secondary motion of the knee during the most common activities of daily living.

Predicting postoperative cardio-pulmonary complications by a test of stair climbing.

Abstract: OBJECTIVE To assess whether a test of stair climbing ability could be used to predict the risk of developing postoperative cardiopulmonary complications in patients undergoing general anesthesia. DESIGN Cohort study. PLACE AND DURATION OF STUDY The Aga Khan University Hospital, Karachi. The duration of the study was from December 2003 to December 2004. PATIENTS AND METHODS This study was carried out on consecutive, adult patients presenting for elective thoracic or abdominal surgery under general anesthesia. Pre-operatively, patients were asked to climb a standard staircase. Number of steps climbed was recorded. Those unable to climb stairs due to debilitating cardiac, pulmonary or rheumatologic disease were categorized as 0 stairs climbed. Outcome variables were postoperative cardiopulmonary complications or mortality. Period of follow-up was until hospital discharge. RESULTS Seventy-eight patients were enrolled, 59 (75.6%) climbed 1 flight of stairs, 19 (24.3%) climbed < 1 flight. All-cause cardiopulmonary complications rate was 26 %. The most frequent complication was lobar atelectasis, followed by bronchospasm and acute MI. The complication rate was 22.8% in those able to climb 1 flight and 40% in those patients who climbed < 1 flight. The group that climbed < 1 flight tended to have complications associated with poor reserves of the cardiopulmonary systems, i.e. pulmonary edema, exacerbation of underlying lung disease. The relative risk of developing complications, if unable to climb at least 1 flight of stairs, was calculated to be 1.8 (95% CI 0.7 - 4.6). CONCLUSION Stair climbing can be a useful pre-operative tool to predict the risk of postoperative cardiopulmonary complications.

Statically balanced stair climbing gait research for a hybrid quadruped robot

Abstract: This paper first introduced the mechanical specifications of a hybrid quadruped robot built by Harbin Institute of Technology, China. Then, for gait research convenience, described the mathematical model of the robot and solved it. This paper classified the quadruped gaits into three kinds: acute angle gait, obtuse angle gait and right angle gait, and point out that the acute angle gait will get the best stability, to verify it, researched two representative stair climbing gaits: rectangle gait correspond to right angle gait, and parallelogram gait correspond to acute angle gait; contrasted its performance. Gait planning and simulation is well done. By detailed data comparison, get a conclusion that the parallelogram gait is more stable, more efficient and smoother than the rectangle gait.

Relationships between perceived limitations in stair climbing and lower limb strength, body mass index, and self-reported stair climbing activity

Abstract: The purpose of this study was to describe the relationships between perceived limitations in stair climbing and self-reported stair climbing activity, muscle strength, and adiposity. The study involved the cross-sectional examination of community-dwelling men (n = 32) and women (n = 107) aged at least 65 years. Perceived limitations in climbing one and several flights of stairs were identified by responses to items of the Short-Form 36. Lower limb strength was indicated by the 5 repetition sit-to-stand test. Adiposity was characterized by body mass index. Stair climbing activity was reflected by self-report of flights climbed daily. Stair climbing limitations were common among the participants. Correlational analysis showed low but significant correlations between stair climbing limitations and stair climbing activity, adiposity, and lower limb strength. Regression analysis demonstrated that the 3 independent variables combined together predicted 36.8% of the variance in limitations in climbing a single flight of stairs, and that the stair flights climbed and lower limb strength explained 22.1% of the variance in climbing several flights of stairs. While the design of the study precludes attributing cause, it appears that stair climbing limitations might be assuaged through reduction of adiposity and augmentation of lower limb strength. Stair climbing activity itself may have a direct or indirect effect on stair climbing limitations.

Development of the Stair Climbing Leg-Wheel Hybrid Vehicle

Abstract: A development of stair climbing mobile vehicle to be the base for stair climbing wheelchairs and/or inspection robots is greatly demanded. Several types of the vehicles using crawlers, wheels and legs have been proposed to perform such a stable stair climbing motion. However, conventional vehicles are limited by their mobility, safety, and mechanical size and weight. We propose a new stair climbing leg-wheel hybrid vehicle coined as“Zero Carrier”. The Zero Carrier composed of unified eight prismatic-joint legs, four of which attached active wheels and other four attached passive casters. Proposing Zero Carrier can be designed lightweight and powerful. It can also maintain high stability on stair climbing motion and perform slip-less turning motion. Design of driving mechanisms, sensors, and motion control of the Zero Carrier are then performed and demonstrated its motion by the mechanical model Zero Carrier I.

Stair climbing robot

Abstract: The utility model discloses a stair climbing robot, comprising an article flat board, folded wheel legs, supporting legs, a horizontal telescopic track, an automatic controller and a hydraulic unit. The folded wheel legs are connected with the bottom of the flat board. The support legs consists of inner and outer two hydraulic cylinders which are sheath together, and the support legs are connected with the bottom of the flat board. The horizontal telescopic track is divided into two groups which are respectively mounted on the inner and outer two sides of the bottom of the flat board; the horizontal telescopic track consists of two sleeve barrels. The automatic controller consists of a microcontroller, a horizontal position detector, a sensor, a control circuit, an electric control switch, a valve and a power supply. The hydraulic unit consists of a hydraulic pump, three-section and two-section hydraulic piston rods, a hydraulic pipeline and an electric controlled hydraulic valve. The utility model can be used for carrying load upstairs for the convenience of moving, daily shopping or moving furniture; the stair climbing robot can also be used as an automatic tool for old people and the handicapped to go upstairs.

Stair climber for autonomous climbing, adaptable to manual wheelchairs

Abstract: The invention relates to a stair climbing aid for wheelchair occupants to allow autonomous stair climbing, based on the design known from the patent document GB 683 983. With small modifications the known design becomes an autonomous climber. The preferred embodiment is an attachment for commercially available active wheelchairs and includes, in addition to the driven caterpillar track (5), two levers (7) which effect the transfer onto and off the stairs. The levers are rotatably mounted on the frame with their axis of rotation (8) approximately parallel to the rear edge of the seat. In contrast to what is known from GB 683 983, these levers execute full turns during the stair-climbing process. By virtue of these and other features of the levers, as described in more detail in the patent document, the transfer onto and off the stairs is accomplished reliably and automatically with only one active component, and the operation does not require bodily force or the help of another person. In combination with the low centre of gravity this results in a compact stair climber weighing less than 10 kg. During the stair-climbing process the large wheels of the wheelchair are removed and secured elsewhere.

Driving apparatus of multifunctional chain bicycle

Abstract: Disclosed herein is a driving apparatus of a multifunctional chain bicycle. In the driving apparatus, components of its forward driving arrangement to permit forward motion of the bicycle with either forward or reverse rotation of bicycle's pedals are arranged on the right side of a bicycle's rear wheel shaft and on the right side of a pedal shaft, and components of both stair climbing pedaling arrangement and pedal positional arrangement are arranged on the left side of the pedal shaft and on a left pedal arm.

Stair-climbing transport vehicle for wheelchairs

Abstract: The invention relates to a stair-climbing transport vehicle for wheelchairs, having a chassis. The vehicle comprises, on every long side, rollers and a continuous caterpillar track driven on said rollers, and a receiving device that can be placed on the chassis for detachably retaining the wheelchair which can be brought into a horizontal normal sitting position during the stair travel of the vehicle. The transport vehicle is characterized in that the receiving device is formed by a shell that is rotatably fastened on the chassis between the two caterpillar tracks and is accessible for the wheelchair from a short end of the chassis. The rotational position of the shell is automatically controlled by a shell drive depending on the position of the vehicle in such a manner that the aforementioned sitting position is always maintained.

Design of a Stair-Climbing Hand Truck

Abstract: Every year, both at home and in the workplace, thousands of adults injure themselves while attempting to move heavy objects. Devices such as hand trucks are used to relieve the stress of lifting while on flat ground; however, these devices usually fail when it becomes necessary to negotiate a street curb or a short flight of stairs. The objective of this thesis was to design and test a consumer-grade hand truck capable of climbing stairs. Several designs were conceived that would allow a non-industrial hand truck to travel over stairs, curbs, or uneven terrain while putting minimal strain on the user. One strategy, referred to as the Blanco Stair-Climbing Wheel, was selected for development; several solid models were created and a prototype was constructed. The finished prototype was tested with a payload of approximately 300 lbs, and it was determined that the hand truck design using the Blanco strategy is a viable option for a stair-climbing consumer product. Thesis Supervisor: Ernesto E. Blanco Title: Adjunct Professor of Mechanical Engineering

Electromyographic Analyses of the effects of different foot positions during exercise on a stair-climbing machine

Abstract: The purpose of this study was to determine the effect of the foot rotation on the lower limb muscles. Fourteen subjects performed step-up/step-down at a cadence of 80 beats/min, exercises with the foot neutral, internally rotated, and externally rotated, respectively. For each variable, a one-way analysis of variance (ANOVA) was used to determine whether there were significant differences between genders and among the eight types of jump. When a significant difference was found in jump type, post hoc analyses were performed using the Tukey procedure. A confidence level of p

Multi-castor device for climing stair

Abstract: The utility model provides a multi-castor device for climbing stair. The utility model is characterized in that: the multi-castor is provided with two slices of symmetrical multi-castor frames; an axle block is arranged at the center of the multi-castor ; the middle of each angle arm of the multi-castor frame is provided with an axle sleeve ; a pulley spindle hole is arranged on the anterior part of the angle arm, and the pulley spindle hole is connected with a pulley wheel through bolts. The utility model is simple in structure, handy and flexible, convenient in installation and low in cost, and is used for a pair of main wheels, or for replacing a pair of main wheels of carts of all types, realizing flat pulling and stair climbing; the utility model is a product worthy of generalizing.