Showing papers on "Stair climbing published in 2007"

Gait rehabilitation machines based on programmable footplates.

Abstract: Background Gait restoration is an integral part of rehabilitation of brain lesioned patients. Modern concepts favour a task-specific repetitive approach, i.e. who wants to regain walking has to walk, while tone-inhibiting and gait preparatory manoeuvres had dominated therapy before. Following the first mobilization out of the bed, the wheelchair-bound patient should have the possibility to practise complex gait cycles as soon as possible. Steps in this direction were treadmill training with partial body weight support and most recently gait machines enabling the repetitive training of even surface gait and even of stair climbing.

GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing

Abstract: For humanoid robots to fully realize their biped potential in a three-dimensional world and step over, around or onto obstacles such as stairs, appropriate and efficient approaches to execution, planning and perception are required. To this end, we have accelerated a robust model-based three-dimensional tracking system by programmable graphics hardware to operate online at frame-rate during locomotion of a humanoid robot. The tracker recovers the full 6 degree-of- freedom pose of viewable objects relative to the robot. Leveraging the computational resources of the GPU for perception has enabled us to increase our tracker's robustness to the significant camera displacement and camera shake typically encountered during humanoid navigation. We have combined our approach with a footstep planner and a controller capable of adaptively adjusting the height of swing leg trajectories. The resulting integrated perception-planning-action system has allowed an HRP-2 humanoid robot to successfully and rapidly localize, approach and climb stairs, as well as to avoid obstacles during walking.

Aquatic training and detraining on fitness and quality of life in fibromyalgia.

Abstract: Purpose: To evaluate the effects of a 12-wk period of aquatic training and subsequent detraining on health-related quality of life (HRQOL) and physical fitness in females with fibromyalgia. Methods: Thirty-four females with fibromyalgia were randomly assigned into two groups: an exercise group, who exercised for 60 min in warm water, three times a week (N = 17); and a control group, who continued their habitual leisure-time activities (N = 17). HRQOL was assessed using the Short Form 36 questionnaire and the Fibromyalgia Impact Questionnaire. Physical fitness was measured using the following tests: Canadian Aerobic Fitness, hand grip dynamometry, 10-m walking, 10-step stair climbing, and blind one-leg stance. Outcomes were measured at baseline, after treatment, and after 3 months of detraining. Results: After 12 wk of aquatic exercise, significant positive effects of aquatic training were found in physical function, body pain, general health perception, vitality, social function, role emotional problems and mental health, balance, and stair climbing. After the detraining period, only the improvements in body pain and role emotional problems were maintained. Conclusion: The present water exercise protocol improved some components of HRQOL, balance, and stair climbing in females with fibromyalgia, but regular exercise and higher intensities may be required to preserve most of these gains.

The pathway from musculoskeletal pain to mobility difficulty in older disabled women.

Abstract: Little is known about the pathway from musculoskeletal pain to mobility difficulty among older persons. We examined potential physical and psychological mediators of the pain-disability relationship in the Women’s Health and Aging Study (WHAS), a cohort of women aged ≥65 who had at least mild disability at baseline. Pain was classified according to location and severity (widespread pain; lower extremity pain; other pain; none or mild pain in only one site). Among women without a lot of difficulty in stair climbing (n = 676) or walking (n = 510) at baseline, those who reported widespread pain were more likely than those with none or mild pain to develop a lot of difficulty with mobility during the 3 year follow-up. The likelihood for mobility difficulty was unchanged after adjusting for physical impairments and symptoms of depression and anxiety (walking aOR = 1.85, 95%CI, 1.08–3.17; stair climbing, aOR = 2.68, 95%CI, 1.56–4.62). Lower extremity pain was associated with increased likelihood for difficulty with climbing stairs but not with walking. However, this association was attenuated after adjusting for physical impairments and psychological symptoms (aOR = 1.66, 95%CI, 0.99–2.77). Pain was not associated with increased risk for becoming unable to walk or climb stairs. The findings suggest that pain is a unique domain as a cause of disablement, independent of the usual pathway to disability via physical impairments. Research is needed to better understand the development of pain-related disability in order to determine optimum approaches to prevent and treat mobility disability in older persons with persistent pain.

Autonomous Stair Climbing for Tracked Vehicles

Abstract: In this paper, an algorithm for autonomous stair climbing with a tracked vehicle is presented. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle's interaction with the stair surface, or lighting conditions. The approach relies on fast and accurate estimation of the robot's heading and its position relative to the stair boundaries. An extended Kalman filter is used for quaternion-based attitude estimation, fusing rotational velocity measurements from a 3-axial gyroscope, and measurements of the stair edges acquired with an onboard camera. A two-tiered controller, comprised of a centering- and a heading-control module, utilizes the estimates to guide the robot rapidly, safely, and accurately upstairs. Both the theoretical analysis and implementation of the algorithm are presented in detail, and extensive experimental results demonstrating the algorithm's performance are described.

Physical and Psychological Factors Associated With Stair Negotiation Performance in Older People

Abstract: Background. An inability to negotiate stairs is a marker of disability and functional decline and can be a critical factor in loss of independence in older people. There is limited research on the underlying factors that impair performance in this important activity of daily living. We examined which physical and psychological factors are associated with stair climbing and stair descending performance in older people. Methods. Six hundred sixty-four community-dwelling people aged 75–98 years (mean age ¼ 80.1 years, standard deviation (SD) ¼ 4.4 years) underwent stair negotiation tests as well as tests of lower limb strength, vision, peripheral sensation, reaction time, and balance and completed questionnaires measuring psychological and health status. Results. Many physiological and psychological factors were significantly associated with stair negotiation speed. Multiple regression analyses revealed that knee extension and knee flexor strength, lower limb proprioception, edge contrast sensitivity, reaction time involving a foot-press response, leaning balance, fear of falling, and the Short-Form 12 Health Status Questionnaire (SF-12) pain and vitality scores were significant and independent predictors of stair ascent and descent performance. The combined set of variables explained 47% of the variance in stair ascent performance and 50% of the variance in stair descent performance. Measures of strength, balance, vision, fear, and vitality also significantly discriminated between persons who did and did not require the use of the handrail when performing the tests. Discussion. In community-dwelling older people, impaired stair negotiation is associated not only with reduced strength but also with impaired sensation, strength, and balance; reduced vitality; presence of pain; and increased fear of falling.

How and when infants learn to climb stairs.

Abstract: Seven hundred and thirty-two parents reported when and how their infants learned to climb stairs. Children typically mastered stair ascent (mean age = 10.97 months) several months after crawling onset and several weeks prior to descent (mean age = 12.53 months). Most infants (94%) crawled upstairs the first time they ascended independently. Most infants (76%) turned around and backed at initial descent. Other descent strategies included scooting down sitting, walking, and sliding down face first. Children with stairs in their home were more likely to learn to ascend stairs at a younger age, devise backing as a descent strategy, and be explicitly taught to descend by their parents than children without stairs in their home. However, all infants learned to descend stairs at the same age, regardless of the presence of stairs in their home. Parents’ teaching strategies and infants’ access to stairs worked together to constrain development and to influence the acquisition of stair climbing milestones.

Promoting stair climbing: intervention effects generalize to a subsequent stair ascent.

Abstract: Purpose. Studies report a significant increase in stair use when message prompts are introduced at the “point of choice” between stairs and escalators. Climbing one set of stairs, however, will not confer meaningful health dividends. Therefore, this study examined whether exposure to point of choice prompts also encouraged individuals to climb the next set of stairs that they encountered. Design. Interrupted time-series design. Settings. Two separate stair/escalator pairings within a U.K. shopping mall (the “intervention” site and the “generalization” site), separated by a 25-m long atrium. Subjects. Ascending pedestrians (intervention site n = 29,713; generalization site n = 47,553). Interventions. Two weeks of baseline monitoring were followed by a 13-week intervention in which banners carrying health promotion messages were introduced at the intervention site only. Measures. At both sites observers inconspicuously recorded pedestrians' methods of ascent, along with their gender, age, ethnicity...

Effects of environmental changes in a stair climbing intervention: generalization to stair descent.

Abstract: Purpose. Visual improvements have been shown to encourage stair use in worksites independently of written prompts. This study examined whether visual modifications alone can influence behavior in a shopping mall. Climbing one flight of stairs, however, will not confer health benefits. Therefore, this study also assessed whether exposure to the intervention encouraged subsequent stair use. Design. Interrupted time-series design. Settings. Escalators flanked by a staircase on either side. Subjects. Ascending and descending pedestrians (N = 81,948). Interventions. Following baseline monitoring, a colorful design was introduced on the stair risers of one staircase (the target staircase). A health promotion message was superimposed later on top. The intervention was visible only to ascending pedestrians. Thus, any rise in descending stair use would indicate increased intention to use stairs, which endured after initial exposure to the intervention. Measures. Observers inconspicuously coded pedestrians...

Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot

Abstract: Mobile robots have been developed for surveillance, reconnaissance and inspection as well as for operation in hazardous environments. Some are intended to explore not only natural terrains but also artificial environments, including stairs. This paper explores algorithms to autonomously climb stairs. The algorithms were derived and implemented for a specific mobile robot with the ability to traverse such obstacles by changing its tracks configuration. Furthermore, algorithms have been developed for conditions under which the mobile robot halts its motion during the climbing process when at risk of flipping over or falling down. The technical problems related to the implementation of some of these functions have been identified and analyzed, and their solutions validated and tested. The algorithms and solutions were validated experimentally, illustrating the effectiveness of autonomous climbing of stairs.

Environment adaptation of a new staircase-climbing wheelchair

Abstract: This paper describes the mechanical devices conforming a novel wheelchair prototype capable of climbing staircases. The key feature of the mechanical design is the use of two decoupled mechanisms in each axle, one to negotiate steps, and the other to position the axle with respect to the chair to accommodate the overall slope. This design simplifies the control task substantially. Kinematic models are necessary to describe the behavior of the system and to control the actuated degrees of freedom of the wheelchair to ensure the passenger's comfort. The choice of a good climbing strategy simplifies the control and decreases the power consumption of the wheelchair. In particular, we demonstrate that if the movement of the wheelchair has the same slope as the racks or the same slope as the terrain that supports the wheel axles (depending on the configuration mechanism), control is easier and power consumption is less. Experimental results are reported which show the behavior of the prototype as it moves over different situations: (a) ascending a single step of different heights using different climbing strategies; and (b) climbing a staircase using an appropriate climbing strategy that simplifies the control and reduces the power consumption of the wheelchair.

Self-reported chair-rise ability relates to stair-climbing readiness of total knee arthroplasty patients: a pilot study.

Abstract: Following total knee arthroplasty (TKA), physical therapists must evaluate patient readiness to safely begin stair-climbing. Physical therapists might find self-reported chair-rise ability useful in determining stair-climbing readiness of patients. We grouped 31 subjects who were at approximately 3.6 weeks post-TKA by chair-rise ability (group 1 = "Because of my knee, I can only rise from a chair if I use my hands and arms to assist," group 2 = "I have pain when rising from the seated position, but it does not affect my ability to rise from the seated position," and group 3 = "My knee does not affect my ability to rise from a chair"). Next, we determined time of stair-climbing ascent and descent, number of chair rises in 30 seconds, isokinetic quadriceps femoris and hamstring muscle group strength, and self-reported knee function survey scores. Groups 3 and 2 descended stairs more quickly than group 1; group 3 displayed greater involved and noninvolved knee extensor torque per body weight than group 1 or 2 and had superior self-reported knee function scores than group 1. Patient perception of chair-rise ability at approximately 3.6 weeks post-TKA is useful in helping physical therapists determine patient readiness to safely begin stair-climbing.

Optimal Design of a New Wheeled Mobile Robot Based on a Kinetic Analysis of the Stair Climbing States

Abstract: In this paper, we propose a new wheeled mobile robot (WMR) with a passive linkage-type locomotive mechanism that allows the WMR to adapt passively to rough terrain and climb up stairs, making it ideal for applications such as building inspection, building security, and military reconnaissance. A simple four-bar linkage mechanism and a limited pin joint are proposed after considering two design needs: adaptability and passivity. To improve the WMR's ability to climb stairs, we divided the stair-climbing motion into several stages, taking into consideration the status of the points of contact between the driving wheels and the step. For each of the suggested stages, a kinetic analysis was accomplished and validated using the multi-body dynamic analysis software package ADAMS. The object functions are presented for the stages that influence the WMR's ability to climb stairs. The optimization of the object functions is carried out using the multi-objective optimization method.

Stair-Climbing Control of Humanoid Robot using Force and Accelerometer Sensors

Abstract: In this paper, an autonomous control scheme is proposed for humanoid robot to accomplish the stair-climbing mission. At first, we design a fuzzy based auto-balance gait controller and adopt the zero moment point (ZMP) criterion to construct the basic motion patterns. Next we propose a ten-step stair-climbing control scheme. For acquiring the information from the environment, two kinds of sensors, the accelerometer and the force sensor are utilized. Experimental results demonstrate that the developed humanoid robot can successfully accomplish the stair-climbing mission though stair steps are with different height.

Quasi-static analysis of a leg-wheel hybrid vehicle for enhancing stair climbing ability

Abstract: This paper presents quasi-static analysis of a leg- wheel hybrid vehicle for enhancing stair climbing ability. The vehicle consists of four spoke-wheels. The number of spokes for each wheel can be altered by varying the number of strips attaching to the wheel hub. The effects of having different number of spokes are studied in two bases: climbing ability over an obstacle and the required coefficient of friction between spoke tips and stairs. The climbing ability is measured by the maximum height of obstacle that the vehicle is able to travel. For a certain friction coefficient, the limit for obstacle height can also be predicted. Leg-wheel vehicles with four, six and twelve spokes are also built and tested. Results from the quasi-static analysis and the experiments are shown to be comparable. The slight difference is due to deformations of the spoke strips from the vehicle weight. Calculation and experimental results are in agreement. The maximum step height of the leg wheel can roll over in each case is relatively more than its hub. The twelve- spoke wheel gives the maximum absolute height among the three cases.

All choices are not equal; effects of context on point-of-choice prompts for stair climbing

Abstract: A recent article published in Obesity Reviews , Dolan et al . (1) set out to quantify the effects of point-of-choice interventions that encourage the use of the stairs at the expense of the escalator in community settings. While there is much to admire in the review, five of the 13 studies reviewed did not test stair use against escalators but rather against elevators. Unfortunately, the evidence for successful increases in stair climbing with point-of-choice prompts where the choice is between stairs and elevators is weak, albeit encouraging that change is possible (2). The net outcome is that the careful work by Dolan et al. (1). on a quantitative synthesis of the potential for calorific expenditure with stair climbing underestimates the public health gain possible from stair climbing interventions, combining as it does studies that involve different behavioural contexts. Table 1 summarizes the available studies for the choice between stairs and escalators in community settings over the period 1980–2004 covered in the review by Dolan et al . (1). The table includes some further studies overlooked by the review. In addition, only point-of-choice prompts that focused on health gain have been included (cf. 6). As is clear from the table, all studies report positive effects with only the use of a sign focusing on the health of the individual in an airport failing to produce a significant increase in stair climbing (3). The sample size weighted effect is 5.09%, somewhat larger than the 2.8% estimated by Dolan et al . (1). A further point is germane to any estimates of public health impact; point-of-choice prompts can generalize to other stair climbing opportunities. First, a number of studies demonstrate that stair climbing can remain elevated when the prompt is removed (4,5,3,6–8). Hence, the impact of point-of-choice prompts outlives their deployment in community settings. In addition, two recent studies, unavailable at the time of the review, have demonstrated that effects of point-of-choice interventions are not limited to the choice point at which they are placed (7,8). Thus, point-of-choice prompts can increase stair usage in situations where there is no prompt, e.g. a subsequent staircase (7), and as such the effects of prompting generalize to other stair use choices. This result indicates that any estimate of the population effects based on results from experimental staircases alone underestimates the public health impact. At this stage, it is impossible to quantify the amount of underestimation as we do not know the extent of the generalization possible with point-of-choice interventions. Finally, it is informative to consider why point-of-choice interventions have larger effects for escalators than for elevators (2). The discrepancy may reflect the behavioural context in which the choice is made. One can conceptualize stairs, escalators and elevators as barriers placed in the path of a pedestrian’s journey from their point of departure to their destination. For many such journeys, time to complete the journey is relevant and indeed, saving time is a common reason for using the stairs (9,10). When a pedestrian is faced by a choice between adjacent stairs and escalators, neither choice incurs a time penalty as both options are immediately available. In contrast, the choice between stairs and elevators is often influenced by time considerations (11). If the elevator is not immediately available, a pedestrian intending to take the elevator may choose the stairs as the quicker option. Alternatively, an individual aiming to take the stairs in response to an intervention may be seduced by the lure of an immediately available and Table 1 Percent change in stair use from health-related point-of-choice intervention signs for stairs vs. escalators

Hanging type stairs clambing handcart

Abstract: The hanging type stair climbing cart includes one bearing system, one supporting system, one matter carrying system and one power device. The bearing system consists of a cross beam over the stair railing and an inside column on inside of stair railing; the matter carrying system is one article carrier connected to the inside column; and the supporting system including an outer column, wheels, a chain and a support board can prevent the cart from sliding down and reduce cart moving resistance. The present invention has the advantages of simple structure, low cost, etc.

Fuzzy haptic augmentation for telerobotic stair climbing

Abstract: Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments The ability to explore dangerous environments from the safety of a remote location represents an important progression towards the preservation of human safety in the inevitable response to such a threat While the benefits of removing physical human presence are clear, challenges associated with remote operation of a robotic system need to be addressed Removing direct human presence from the robot's operating environment introduces telepresence as an important consideration in achieving the desired objective The introduction of the haptic modality represents one approach towards improving operator performance subject to reduced telepresence When operating in an urban environment, teleoperative stair climbing is not an uncommon scenario This work investigates the operation of an articulated track mobile robot designed for ascending stairs under teleoperative control In order to assist the teleoperator in improved navigational capabilities, a fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance

Stair-climbing vehicle

Abstract: A vehicle for carrying object can overcome stairs and special geography. Rotators having wheels with of without auxiliary wheel are used. Various combinations of rotators and auxiliary wheel are possible.

Driving system for stair-climbing vehicle

Abstract: A driving system that can allow a vehicle to go over or ascend obstacles or stairs through a step driving manner is provided. The driving system includes a power transmission unit connected to a main shaft connected to a power generation unit installed on the wheel frame, a plurality of driven units engaged with the power transmission unit and supporting the rotation of wheels by rotational force from the power transmission unit, and a carrier to which the power transmission unit and each of the driven units are operationally fixed and which goes over the obstacles by rotating when the driven units are stopped by the obstacles.

Autonomous Stair Climbing withReconfigurable Tracked MobileRobot

Abstract: Mobile robots havebeendevelopedfor surveillance, operation ofLMA dependsontheoperator's emotional and reconnaissance andinspection aswellasforoperation in physical conditions, andtheyarenotalwaysideal. hazardous environments. Someareintended toexplore notonly Second, climbing stairs inthemanualmoderequires the natural terrains butalso artificial environments, including stairs.operator's knowledge, experiences, skills andtraining. The Thispaper explores algorithms toautonomously climb stairs. The algorithms werederived andimplemented foraspecific mobileproedures ofeclmbin st arecomosed of sevra robot withtheability totraverse suchobstacles bychanging its motions, which operators mustknowthoroughly. This is not tracks configuration. Furthermore, algorithms havebeen preferable siceoperators generally prefer less information to developed forconditions underwhichthemobile robot halts its usea product. Training on ascending stairs isalsonot motion during theclimbing process whenatrisk offlipping overpreferable, aspractices usually include failures. Intheworst orfalling down.Thetechnical problems related tothe case, LMA mightfall offthestairs, resulting inacritical implementation ofsomeofthese functions havebeenidentified damagetothesystem. andanalyzed, andtheir solutions validated andtested. The Finally, themanualmode isunsuitable forteleoperated algorithms and solutions werevalidated experimentally, climbing overablindfold suchasawall, fenceorhedge. An illustrating theeffectiveness ofautonomous climbing ofstairs. operator mustwatchLMAwhileclimbing stairs toconfirm therobot's motions. OnceLMA disappears fromthevisual Keywords-mobile robot, autonomous climbing, control field, itwouldbeoutofcontrol. Evenifitmight bepossible

Staircase climbing aid with ascent and descent handles attached to a carriage, which is held in a guide rail.

Abstract: Disclosed is a stair climbing aid with a guide 20 or track parallel to the inclination of the staircase and a sliding carriage 40 engaged with the guide. Attached to the carriage is a handle 30 with a ascent portion 34 and a descent portion 32, such that the portions are located in different positions relative to the carriage. The handle may provide the ascent and descent handles as separate handles, the handles extending in front of the user 1 when in use, and forming a curve around the user. The handle may be rotationally attached to the carriage in one, two or three axis. The carriage may have a control mechanism comprising a pawl means that engages holes in the guide. The control mechanism may be activated by the user applying a force on the descent handle in a predetermined activation direction. The applied force may be to rotate the handle, allowing the pawl to disengage the guide holes. The carriage may be attached to a counterweight 26 and to a fail-safe mechanism that locks the carriage if the counterweight fails. Also disclosed is a stair climbing aid with the control mechanism and a handle.