Showing papers on "Stair climbing published in 2012"

Robot-assisted practice of gait and stair climbing in nonambulatory stroke patients

Abstract: A novel gait robot enabled nonambulatory patients the repetitive practice of gait and stair climbing. Thirty nonambulatory patients with subacute stroke were allocated to two groups. During 60 min sessions every workday for 4 weeks, the experimental group received 30 min of robot training and 30 min of physiotherapy and the control group received 60 min of physiotherapy. The primary variable was gait and stair climbing ability (Functional Ambulation Categories [FAC] score 0-5); secondary variables were gait velocity, Rivermead Mobility Index (RMI), and leg strength and tone blindly assessed at onset, intervention end, and follow-up. Both groups were comparable at onset and functionally improved over time. The improvements were significantly larger in the experimental group with respect to the FAC, RMI, velocity, and leg strength during the intervention. The FAC gains (mean +/- standard deviation) were 2.4 +/- 1.2 (experimental group) and 1.2 +/- 1.5 (control group), p = 0.01. At the end of the intervention, seven experimental group patients and one control group patient had reached an FAC score of 5, indicating an ability to climb up and down one flight of stairs. At follow-up, this superior gait ability persisted. In conclusion, the therapy on the novel gait robot resulted in a superior gait and stair climbing ability in nonambulatory patients with subacute stroke; a higher training intensity was the most likely explanation. A large randomized controlled trial should follow.

Assessment of transfemoral amputees using C-Leg and Power Knee for ascending and descending inclines and steps.

Abstract: INTRODUCTION Over 840 U.S. military servicemembers have sustained a major lower-limb amputation as a result of the current conflicts, Operation Iraqi Freedom/Operation Enduring Freedom (OIF/OEF) [1]. These servicemembers are almost always extremely motivated to reach their highest level of function. Whether remaining on Active Duty or eventually separating to civilian life, each individual will continue to have many physical obstacles to negotiate, including stairs and slopes. The loss of a limb, and the respective anatomical joints, has been shown to cause a deviation from "normalized" mobility and can result in asymmetries during gait [2-8]. These asymmetries have been reported to contribute to secondary injuries such as osteoarthritis, joint degeneration, and low-back pain [7,9-15]. Servicemembers with trauma, including amputation, to one or both lower limbs may be at a greater risk for secondary injuries because of additional physical compensations during ambulation. Ascending and descending slopes and stairs present a greater biomechanical challenge than overground walking. The additional difficulties associated with slopes and stairs may translate into additional degeneration of the remaining joints caused by increased forces and moments compared with overground walking. Research has shown that for young nondisabled individuals, joint forces and moments at the knees and hips are greater during stair ascent than descent or level walking. This implies a greater demand on those joints [1617]. Minimal research has been conducted on ambulation of those with major limb loss during stair and ramp ascent and descent. One study examined stair descent for persons with transfemoral amputation (TFA) and transtibial amputation and stair ascent for those with transtibial amputation only [18]. They concluded that during stair descent, people with TFA respond more similarly to controls than people with transtibial amputation. This result occurs because people with TFA who use a microprocessor knee are better able to control knee hydraulics during the descent than those with mechanical knees. Better knee hydraulics allow a person using a microprocessor knee to control their descent. During ascent, functional compensations are made primarily by the contralateral limb [18]. The compensations and resulting forces on the nondisabled limb may be even greater for those with TFA because of loss of a functional knee on the involved side. For people who have TFA, stair climbing is a challenging functional task. One study reports that only 7.2 percent of people with TFA are able to ascend stairs without handrail assistance and only 3 percent descend stairs step-over-step [19]. This result differs from previously mentioned research [18], which reports people with TFA descending predominantly step-over-step. These differing results may have occurred because of the prosthetic technologies used for the studies cited and when the studies occurred (1984 vs 2007). These data highlight the difficulty of this task and the importance of identifying solutions that will ease the burden of stair ambulation, particularly for people with TFA. Compared with stair ambulation, ramp ambulation was easier for these individuals because 99 percent required no assistance to ascend or descend ramps while 1 percent needed assistance [19]. This does not imply that sloped gait is not difficult for persons with TFA. One study shows that kinematic adjustment strategies are employed while negotiating slopes [20]. Efforts to replace knee function with mechanical devices have been met with varying degrees of success. The literature contains an ample number of biomechanical studies that, through the years, can be shown to correlate improved gait dynamics with technological advances in prosthetic knee design [21-23]. Decreased frequency of falls and stumbles and increased user satisfaction have also been demonstrated with the use of microprocessor-controlled prosthetic knee units compared with mechanical devices [24-25]. …

Small unmanned ground vehicle

Abstract: The present teachings relate generally to a small unmanned ground vehicle. The present teachings relate more particularly to a small unmanned ground vehicle weighing less than about five pounds, and which is designed to absorb an impact from being dropped or thrown and climb stairs of a conventional size, to perform a variety of behaviors such as stair climbing, self righting, and gap crossing, and to be sealed to prohibit ingress of liquids and debris.

A multi-component stair climbing promotional campaign targeting calorific expenditure for worksites; a quasi-experimental study testing effects on behaviour, attitude and intention.

Abstract: Accumulation of lifestyle physical activity is a current aim of health promotion, with increased stair climbing one public health target. While the workplace provides an opportunity for regular stair climbing, evidence for effectiveness of point-of-choice interventions is equivocal. This paper reports a new approach to worksite interventions, aimed at changing attitudes and, hence, behaviour. Pre-testing of calorific expenditure messages used structured interviews with members of the public (n = 300). Effects of multi-component campaigns on stair climbing were tested with quasi-experimental, interrupted time-series designs. In one worksite, a main campaign poster outlining the amount of calorific expenditure obtainable from stair climbing and a conventional point-of-choice prompt were used (Poster alone site). In a second worksite, additional messages in the stairwell about calorific expenditure reinforced the main campaign (Poster + Stairwell messages site). The outcome variables were automated observations of stair and lift ascent (28,854) and descent (29,352) at baseline and for three weeks after the intervention was installed. Post-intervention questionnaires for employees at the worksites assessed responses to the campaign (n = 253). Analyses employed Analysis of Variance with follow-up Bonferroni t-tests (message pre-testing), logistic regression of stair ascent and descent (campaign testing), and Bonferroni t-tests and multiple regression (follow-up questionnaire). Pre-testing of messages based on calorific expenditure suggested they could motivate stair climbing if believed. The new campaign increased stair climbing, with greater effects at the Poster + Stairwell messages site (OR = 1.52, 95% CI = 1.40-1.66) than Posters alone (OR = 1.24, 95% CI = 1.15-1.34). Follow-up revealed higher agreement with two statements about calorific outcomes of stair climbing in the site where they were installed in the stairwell, suggesting more positive attitudes resulted from the intervention. Future intentions for stair use were predicted by motivation by the campaign and beliefs that stair climbing would help weight control. Multi-component campaigns that target attitudes and intentions may substantially increase stair climbing at work.

Prompt before the choice is made: effects of a stair-climbing intervention in university buildings.

Abstract: Objectives. Recent interventions report positive results following a multi-component campaign to increase stair climbing. This study investigated the effectiveness of volitional and motivational components of a stair-climbing intervention in the workplace. Design. Interrupted time-series design. Methods. Ascending stair/lift choices, coded by gender, were observed between 08:00-10:00 and 14:15-16:15 on weekdays, in four university buildings (n= 14,138; 46% female). Baseline observations (stage 1; 5 days) preceded a motivational intervention, that is, a poster positioned inside the lift(s), that was positioned in each building (stage 2; 5 days). Next a volitional intervention, that is, point-of-choice prompt, supplemented the motivational one (stage 3; 8 days). Logistic regression analysis of stair/lift choices included the independent variables of intervention components, gender, time of day, building height, number of lifts, and pedestrian traffic. Results. There was no significant change in stair climbing when the motivational component was positioned alone (Odds Ratio [OR]= 0.93, 95% Confidence Interval [CI]= 0.85-1.02, p= .123). In contrast, stair climbing increased significantly when the volitional component, that is, the point-of-choice prompt, was added (OR = 1.23, 95% CI = 1.14-1.32, p Language: en

Temporal-Spatial Gait Adaptations During Stair Ascent and Descent in Patients With Knee Osteoarthritis

Abstract: Knee osteoarthritis (OA) accounts for more functional disability of the lower extremity than any other disease. We recruited 18 patients with knee OA and 18 healthy age-, height-, mass-, and gender-matched control subjects to investigate the effects knee OA has on select spatial and temporal gait variables during a stair climbing task. No group-by-direction interaction was observed; however, significant effects did occur for group and direction. Specifically, patients with knee OA demonstrated less time in single support, greater time in double support, decreased step length, greater step width, less stride length, decreased total gait velocity, greater total time in support, and less total time in swing, compared with controls. Early-stage knee OA directly influences specific temporal and spatial gait characteristics during stair climbing.

A short bout of stair climbing-descending exercise attenuates postprandial hyperglycemia in middle-aged males with impaired glucose tolerance.

Abstract: Exercise is a useful modality to ameliorate postprandial hyperglycemia. Here we show that a short bout (∼6 min) of stair climbing–descending exercise (STAIR) starting at 90 min after meal accelerates the decrease in blood glucose concentrations in middle-aged sedentary men with impaired glucose tolerance, although STAIR is easy to perform and keeps the exercise intensity at a moderate level.

Kinesiophobia, catastrophizing and anticipated symptoms before stair climbing in chronic fatigue syndrome: an experimental study.

Abstract: Purpose: Kinesiophobia and catastrophizing are frequent among people with chronic fatigue syndrome (CFS). This study was aimed at examining (1) whether kinesiophobia, anticipated symptoms and fatigue catastrophizing are related to stair climbing performance in people with CFS; and (2) whether kinesiophobia and fatigue catastrophizing are related to daily physical activity in CFS. Method: Patients with CFS filled in a set of questionnaires, performed a physical demanding task (two floors stair of climbing and descending) with pre-test and post-test heart rate monitoring and immediate post-stair climbing symptom assessment. Real-time activity monitoring was used between the baseline and second assessment day (7 days later). Results: Kinesiophobia and fatigue catastrophizing were strongly related (ρ = 0.62 and 0.67, respectively) to poorer stair climbing performance (i.e. more time required to complete the threatening activity). Kinesiophobia and fatigue catastrophizing were unrelated to the amount of physic...

A robust pedestrian navigation algorithm with low cost IMU

Abstract: Zero velocity update (ZUPT) is an effective way for pedestrian navigation in a GPS (Global Positioning System) denied environment The stance phase in each step provides zero velocity measurement for IMU (Inertial Measurement Unit) drift correction Most previous research, however, gives navigation solutions only for pedestrian walking but not running Compared with walking, running has a shorter stance phase with qualified as zero velocity Therefore a stance phase detector for walking may not be capable for running This paper presents a novel ZUPT algorithm which can achieve robust pedestrian navigation for walking, stair climbing, and running Our stance phase detector consists of one footstep detector and two zero velocity detectors (ZVDs)The footstep detector is used to mark each new step, and the first ZVD (ZVD1) can successfully detect zero velocity while walking by setting thresholds on both gyroscope and accelerometer measurements While ZVD1 is failed for running, the second ZVD (ZVD2) is introduced with a relative larger threshold on gyroscope measurement only The proposed stance phase detector was tested for walking, running and stair climbing In all cases, most of the footsteps are detected correctly and our ZUPT algorithm can be successfully implemented Experimental results show that the navigation accuracy of the proposed algorithm for running cases is comparable to that of walking only cases Tests on a biped robot are being also conducted to verify the effectiveness of the algorithm

Autonomous terrain adaptation and user-friendly tele-operation of wheel-track hybrid mobile robot

Abstract: This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications.

Prompts to increase stair climbing in stations: the effect of message complexity.

Abstract: Background/Objective:While point-of-choice prompts consistently increase stair climbing, experimental comparisons of message content are rare. Here, the effects of 2 messages differing in complexity about the health outcomes obtainable from stair climbing were compared. Methods:In a UK train station with 2 independent platforms exited by identical 39-step staircases and adjacent escalators, observers recorded travelers ascent method and gender from 8:00 A.M. to 10:00 A.M. on 2 weekdays during February/March 2008 (n = 48,697). Baseline observations (2-weeks) preceded a 3-week poster phase. Two posters (594 × 841mm) that differed in the complexity of the message were positioned at the point-of-choice between ascent methods, with 1 placed on each side of the station simultaneously. Logistic regression analysis was conducted in April 2010. Results:Omnibus analysis contained main effects of the intervention (OR = 1.07, CI = 1.02–1.13, P = .01) and pedestrian traffic volume (OR = 5.42, CI = 3.05–9.62, P < .001)...

Stair ascent assistance for cerebral palsy with robot suit HAL

Abstract: Cerebral palsy (CP) patients require a wheelchair for moving when their lower limbs are severely paralyzed. Wheelchair users have issues moving around due to the lack of optimal infrastructure. We achieved a voluntary walking of a CP patient who uses wheelchair by using our developed hybrid assistive limb (HAL). In addition to voluntary walking, if HAL realizes voluntary stair climbing, it is expected that patients will acquire a wider range of activities than using a wheelchair. This study focuses on stair ascent. The purpose of this study is to propose an automatic control method for stair ascent assistance, and to verify the effectiveness of the proposed method. In this method, a phase of stair ascent is determined by proposed phase determination based on a height of landing area, CoGRF in sagittal plane and lateral plane. Proposed automatic control generates torque for assisting each phase movement during stair ascent. As an experiment, healthy male subject went through a course including flat area and stairs. As a result, we verified that the phase determination could determine the phase during stair ascent and switch between the walking assistance method and stair ascent assistance method. The proposed automatic control generated torque for assisting movement of each phase. We found this proposed method is applicable to for walking and stair ascent assistance.

Stair climbing wheeled vehicle, and system and method of making and using same

Abstract: A wheeled vehicle comprising a power-driven spider assembly for ascending and descending stairs. The vehicle includes an angular position sensor providing input to a controller operable to control a servo-motor to effectively lock the position of the spider relative to the frame, regardless of the hand truck's spatial orientation relative to a vertical plane, or any balancing of the hand truck. The angular position sensor provides input to the controller, which is programmed with predefined angular zones of instability, and causes the controller to accelerate rotation of the spiders through those zones when the wheeled vehicle is in the descent mode, to avoid instability of the hand truck. A hand truck may include a removable basket and/or a pivotable platform usable to transport loads.

Dynamic and tip-over stability analysis of a planetary wheeled stair-climbing wheelchair

Abstract: In this paper, the design of the mechanism and the control system of a planetary wheeled stair-climbing wheelchair is introduced The dynamic model of the planetary wheel clusters is established based on Lagrange equation, and the angle acceleration curves are studied with various given equivalent torques Stability margin of the wheelchair is analyzed in detail during a single step climbing procedure According to the simulation results, the control law of wheelchair's angle is derived from the projection of the wheelchair's CG on the condition that the wheelchair's stability is always maintained The wheelchair can be easily operated by an assistant accordance with the control law

Ambulatory Function and Perception of Confidence in Persons with Stroke with a Custom-Made Hinged versus a Standard Ankle Foot Orthosis

Abstract: Objective. The aim was to compare walking with an individually designed dynamic hinged ankle foot orthosis (DAFO) and a standard carbon composite ankle foot orthosis (C-AFO). Methods. Twelve participants, mean age 56 years (range 26–72), with hemiparesis due to stroke were included in the study. During the six-minute walk test (6MW), walking velocity, the Physiological Cost Index (PCI), and the degree of experienced exertion were measured with a DAFO and C-AFO, respectively, followed by a Stairs Test velocity and perceived confidence was rated. Results. The mean differences in favor for the DAFO were in 6MW 24.3 m (95% confidence interval [CI] 4.90, 43.76), PCI −0.09 beats/m (95% CI −0.27, 0.95), velocity 0.04 m/s (95% CI −0.01, 0.097), and in the Stairs Test −11.8 s (95% CI −19.05, −4.48). All participants except one perceived the degree of experienced exertion lower and felt more confident when walking with the DAFO. Conclusions. Wearing a DAFO resulted in longer walking distance and faster stair climbing compared to walking with a C-AFO. Eleven of twelve participants felt more confident with the DAFO, which may be more important than speed and distance and the most important reason for prescribing an AFO.

Quick stair-climbing using snap-through buckling of closed elastica

Abstract: In this paper, we propose a machine for quick stair-climbing which is a card-size 14[g] jumping machine driven by a repeated unidirectional impulse force generator based on snap-through buckling of closed elastica. This compact lightweight machine can jump over a distance of 580[mm] at repetition frequency of 1.4[Hz]. This high repeated jumping capability enables the machine to climb up stairs by jumping repeatedly with a period of 0.7[s] per a step of a typical stair in buildings, which shows the potential of the machine for autonomous robots realizing quick stair-climbing.

The energy expenditure of stair climbing one step and two steps at a time: estimations from measures of heart rate.

Abstract: Stairway climbing provides a ubiquitous and inconspicuous method of burning calories. While typically two strategies are employed for climbing stairs, climbing one stair step per stride or two steps per stride, research to date has not clarified if there are any differences in energy expenditure between them. Fourteen participants took part in two stair climbing trials whereby measures of heart rate were used to estimate energy expenditure during stairway ascent at speeds chosen by the participants. The relationship between rate of oxygen consumption () and heart rate was calibrated for each participant using an inclined treadmill. The trials involved climbing up and down a 14.05 m high stairway, either ascending one step per stride or ascending two stair steps per stride. Single-step climbing used 8.5±0.1 kcal min−1, whereas double step climbing used 9.2±0.1 kcal min−1. These estimations are similar to equivalent measures in all previous studies, which have all directly measured The present study findings indicate that (1) treadmill-calibrated heart rate recordings can be used as a valid alternative to respirometry to ascertain rate of energy expenditure during stair climbing; (2) two step climbing invokes a higher rate of energy expenditure; however, one step climbing is energetically more expensive in total over the entirety of a stairway. Therefore to expend the maximum number of calories when climbing a set of stairs the single-step strategy is better.

Six-legged stair climbing wheelchair

Abstract: The invention discloses a six-legged stair climbing wheelchair which belongs to the field of elder and disabled assisting service robots. The six-legged stair climbing wheelchair comprises a wheelchair, three front side legs, three back side legs and a power supply controller box, wherein the power supply control box is arranged below a seat of the wheelchair and a power supply and a controller are arranged therein; the three front side legs are linearly and uniformly arranged at the front side where the power supply control box is close to the wheelchair, and respectively comprise a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot part, and the thigh and the shank comprise telescopic joints realized by ball screw nut mechanisms; and the three back side legs are linearly and uniformly arranged at the back side where the power supply control box is close to the wheelchair, and respectively comprise a hip joint, a thigh, a knee joint, a shank, an ankle joint and a foot part. Through the six-legged stair climbing wheelchair, the seat of the wheelchair is always in a horizontal state in the whole stair climbing process, so that the sitting comfort and safety of the passengers are ensured and walking on rough roads can be realized conveniently.

Using a body sensor network to measure the effect of fatigue on stair climbing performance.

Abstract: In terms of self-rated health, the most important activities of daily living are those involving mobility. Of these activities stair climbing is regarded as the most strenuous. A loss of stair climbing ability with age is normally associated with a loss of muscle strength and power, while other factors that influence muscle function, such as fatigue, are often not taken into account. So far no research has been published on how long-lasting fatigue affects activities of daily living, despite the fact that it has been repeatedly proven, in laboratory settings, to influence muscle force production over long periods of time. Technological advances in body sensor networks (BSNs) now provide a method to measure performance during complex real-life situations. In this study the use of a BSN was explored to investigate the effects of long-lasting fatigue on stair climbing performance in 20 healthy adults. Stair climbing performance was measured before and after a fatiguing protocol using a BSN. Performance was defined by temporal and spatial parameters. Long-lasting fatigue was successfully induced in all participants using an exercise protocol. The BSN showed that post-exercise fatigue did not influence stair climbing times (p > 0.2) and no meaningful changes in joint angles were found. No effect on overall stair climbing performance was found, despite a clear presence of long-lasting fatigue. This study shows that physiological paradigms can be further explored using BSNs. Ecological validity of lab-based measurements can be increased by combining them with BSNs.

Activity Change-of-state Identification Using a Blackberry Smartphone

Abstract: A wearable mobility monitoring system (WMMS) could be a valuable device for rehabilitation decision-making. A proof-of-concept system is developed that uses the BlackBerry 9550 as a self-contained WMMS platform. An integrated tri-axial accelerometer, GPS, and timing data are processed to identify the mobility change-of-state (CoS) between standing, walking, sitting, lying, stair climbing, going up or down a ramp, riding an elevator, and riding in a car. Following feature extraction from the sensor data, a decision tree is used to distinguish the CoS. In the complete system, real-time CoS identification on the smartphone will trigger video capture for improved mobility context analysis. Preliminary evaluation involved collecting three trials from one subject while he completed a continuous circuit that incorporated all target mobility tasks. The average sensitivity is 89.7 % and the specificity is 99.5 % for walking-related activities. The sensitivity is 72.2 % for stair navigation and 33.3% for ramp recognition, since accelerations for a ramp gait are similar to those for a walking gait. These results provide insight into algorithms and features that can be used to recognize CoS in real-time.

Speed of ascent during stair climbing identifies operable lung resection candidates.

Abstract: Background: Preoperative evaluation of lung resection candidates with impaired pulmonary reserves includes measurement of aerobic capacity. Stair climbing is an attractive low-cost alternative to treadmill exercise testing but it lacks standardisation. Objectives: To directly compare stair climbing and treadmill exercise testing with respect to an established cut-off value for lung resection. Methods: We subjected 56 lung resection candidates to both symptom-limited treadmill exercise testing and stair climbing to a maximum of 20 m. Both exercise tests were monitored with the same portable spiroergometer. Subjects were on average 46.6 years old, 61% were male and 54% had FEV1/FVC 1 and DLCOc were 51.6 and 57.1%, respectively. Results: Mean altitude reached, exercise time, speed of ascent and peak VO2 were 16.9 m, 74 s, 14.7 m/min and 22.4 ml/min/kg, respectively, in 54 subjects completing stair climbing. Thirty-one subjects (58%) reached 20 m without stopping. Treadmill tests were completed by 51 subjects and lasted longer (432 s; p O2max was not different compared to stair climbing (22.7 ml/min/kg; p = 0.673). Speed of ascent was significantly correlated to both stair climbing peak VO2 (r = 0.63) and treadmill VO2max (r = 0.67). All 19 subjects (34%) who reached 20 m in 80 s or less (≥15 m/min) had a VO2max of ≥20 ml/min/kg. Conclusions: We found a clinically useful correlation between speed of ascent during stair climbing and VO2max during treadmill exercise testing. Climbing to 20 m with an average speed of ascent of ≥15 m/min accurately identified subjects qualifying for pneumonectomy according to established criteria.

Inner planetary gear type stair climbing device

Abstract: The invention aims to provide an inner planetary gear type stair climbing device which is formed by wheels and a vehicle body. The vehicle body is connected with the wheels. Under the action of manpower, the operation of climbing up and down stairs is realized. Each wheel consists of a rubber tire, an annular gear, a planet carrier, a gear shaft system and a roller shaft system, wherein the rubber tire is connected with the annular gear; the annular gear is connected with the gear shaft system; and the gear shaft system and the roller shaft system are connected with the planet carrier, so that the stable and non-impact operation that the inner planetary gear type stair climbing device continuously climbs up and down the stairs is realized. For the the inner planetary gear type stair climbing device disclosed by the invention, due to the adoption of an nner planetary gear transmission mechanism and a centreless shaft design, the automatic switching of traveling on the flat ground and climbing up and down the stairs is realized by the manpower, and the wheels are in real-time contact with the ground in the process of climbing up and down the stairs so that the rigid impact is eliminated. The inner planetary gear type stair climbing device disclosed by the invention has no requirement on the sizes of a tread and a kicking surface of a step, can be widely applied to a stair climbing machine, a stair climbing cart, a stair climbing wheelchair and a luggage, has simple structure and low cost and is universal for various steps. The invention provides an effective solution for transportation under various conditions of climbing up and down the stairs.

Manual stair climbing vehicle

Abstract: The invention discloses a manual stair climbing vehicle. A back leg and a front leg are arranged in parallel one after the other; a front pipe of the back leg is inserted into the front leg in a way of moving vertically; a gear elevating structure is arranged between the front leg and the back leg; a gas spring structure is arranged in the front pipe of the back leg; the top end of the gas spring structure is connected with the upper part of the front pipe of the back leg; the bottom end of the gas spring structure is connected with the bottom of the front leg; a front leg support leg is connected with the front leg, and comprises a front leg front support leg which is positioned in front of the front leg and a front leg back support leg which is positioned behind the front leg; a back leg support leg is connected with the back leg, and comprises a back leg front support leg which is positioned in front of the back leg and a back leg back support leg which is positioned behind the back leg; a support leg elevating structure comprises a first elevating structure and a second elevating structure; a vehicle beam is connected to the upper end of the back side of the back leg; and U-shaped handlebar can be connected to both sides of the front leg in a way of rotating forward and backward. The manual stair climbing vehicle has the advantages of pure mechanical structure, no need of any external energy source, environmental friendliness, simple structure, small size, light weight, low cost, labor-saving operation and saving in energy sources, and can be directly used for dragging heavy objects to go downstairs.

Ascending stairway modeling: A first step toward autonomous multi-floor exploration

Abstract: Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a trigger for immediate traversal. In the broader context of autonomous exploration, the ability to travel between floors of a building should be compatible with path planning, such that the robot can traverse a stairway at a time that is appropriate to its navigation goals. No system yet presented is capable of both localizing stairways on a map and estimating their properties, functions that in combination would enable stairways to be considered as traversable terrain in a path planning algorithm. We propose a method for modeling stairways as objects and localizing them on a map, such that they can be subsequently traversed if they are of dimensions that the robotic platform is capable of climbing. Our system consists of two parts: a computationally efficient detector that leverages geometric cues from depth imagery to detect sets of ascending stairs, and a stairway modeler that uses multiple detections to infer the location and parameters of a stairway that is discovered during exploration. This video demonstrates the performance of the system in a number of real-world situations, modeling and localizing a variety of stairway types in both indoor and outdoor environments.