Showing papers on "Stair climbing published in 2015"
TL;DR: Reducing knee flexion during stair climbing as a strategy to avoid anterior knee pain does not seem to be healthy for lower limb mechanical distributions and Repeated loading at higher loading rates may be damaging to lower limb joints.
53 citations
TL;DR: The results of the current study suggest that the association between the executive functioning and motor task (like gait) becomes stronger as the level of complexity of the motor task increases.
47 citations
TL;DR: It is confirmed that the results from wear simulation machines are strongly affected by kinematics and loads applied during simulations, and a more comprehensive series of conditions are necessary for equivalent simulations in vitro.
32 citations
TL;DR: This study provides original data of simulated hip joint contact forces for physically demanding activities and shows a general trend could be observed in regards of force curves' characteristics and maxima.
29 citations
TL;DR: Biomechanical asymmetries after TKA reduce the demand on the operated knee and increase reliance on the contralateral limb and ipsilateral hip, which may be related to poor functional performance.
27 citations
TL;DR: The findings suggest that rehabilitation strategies aimed at correcting altered vertical ground reaction force may improve usual knee pain level and self-reported knee function in females with PFP.
Abstract: Individuals with patellofemoral pain (PFP) use different motor strategies during unipodal support in stair climbing activities, which may be assessed by vertical ground reaction force parameters. Thus, the aims of this study were to investigate possible differences in first peak, valley, second peak, and loading rate between recreational female athletes with PFP and pain-free athletes during stair climbing in order to determine the association and prediction capability between these parameters, pain level, and functional status in females with PFP. Thirty-one recreational female athletes with PFP and 31 pain-free recreational female athletes were evaluated with three-dimensional kinetics while performing stair climbing to obtain vertical ground reaction force parameters. A visual analog scale was used to evaluate the usual knee pain. The anterior knee pain scale was used to evaluate knee functional score. First peak and loading rate were associated with pain (r = .46, P = .008; r = .56, P = .001, respectively) and functional limitation (r = .31, P = .049; r = -.36, P = .032, respectively). Forced entry regression revealed the first peak was a significant predictor of pain (36.5%) and functional limitation (28.7%). Our findings suggest that rehabilitation strategies aimed at correcting altered vertical ground reaction force may improve usual knee pain level and self-reported knee function in females with PFP.
26 citations
TL;DR: A decision-tree-based method for differentiating between individual walking, running, stair climbing and stair descent strides using a single channel of a foot-mounted gyroscope suitable for implementation on embedded hardware is presented.
Abstract: Wearable devices that measure and recognise human activity in real time require classification algorithms that are both fast and accurate when implemented on limited hardware. A decision-tree-based method for differentiating between individual walking, running, stair climbing and stair descent strides using a single channel of a foot-mounted gyroscope suitable for implementation on embedded hardware is presented. Temporal features unique to each activity were extracted using an initial subject group (n = 13) and a decision-tree-based classification algorithm was developed using the timing information of these features. A second subject group (n = 10) completed the same activities to provide data for verification of the system. Results indicate that the classifier was able to correctly match each stride to its activity with >90% accuracy. Running and walking strides in particular matched with >99% accuracy. The outcomes demonstrate that a lightweight yet robust classification system is feasible for implementation on embedded hardware for real-time daily monitoring.
25 citations
01 Oct 2015
TL;DR: In this article, the authors present a systematic methodology for achieving stable locomotion behaviors on transfemoral prostheses, together with a framework for transitioning between these behaviors, which is realized experimentally on the self-contained custom-built prosthesis AMPRO.
Abstract: This paper presents a systematic methodology for achieving stable locomotion behaviors on transfemoral prostheses, together with a framework for transitioning between these behaviors—both of which are realized experimentally on the self-contained custom-built prosthesis AMPRO Extending previous results for translating robotic walking to prosthesis, the first main contribution of this paper is the gait generation and control development for realizing dynamic stair climbing This framework leads to the second main contribution of the paper: a methodology for motion intent recognition, allowing for natural and smooth transitions between different motion primitives, eg, standing, level walking, and stair climbing The contributions presented in this paper, including stair ascent and transitioning between motion primitives, are verified in simulation and realized experimentally on AMPRO Improved tracking and energy efficiency is seen when the online optimization based controller is utilized for stair climbing and the motion intent recognition algorithm successfully transitions between motion primitives with a success rate of over 98%
19 citations
TL;DR: Differences in GRF and EMG may point towards an altered movement pattern during stair climbing, aimed at avoiding high muscle activation, since stair climbing seems to be not demanding.
19 citations
TL;DR: Abnormal movement patterns on the surgical side increase demands on other joints and could lead to permanent joint damage and should be addressed during the early post-operative period through additional interventions in an attempt to normalize the differences and potentially improve long-term joint health throughout the lower extremity.
19 citations
TL;DR: In this article, the authors present a new study on the obstacle-climbing ability of Stair-Climbing Mobility Systems (SCMSs), taking into account the effects related to the presence of geometric disturbances on the obstacles.
17 Dec 2015
TL;DR: This work extends the functionality of a novel compliant modular robot to ascend and descend stairs of dimensions that are also typical of an urban setting by equipping the robot's link joints with optimally designed passive spring pairs that resist clockwise and counter clockwise moments generated by the ground during the climbing motion.
Abstract: Stair Climbing is a key functionality desired for robots deployed in Urban Search and Rescue (USAR) scenarios. A novel compliant modular robot was proposed earlier to climb steep and big obstacles. This work extends the functionality of this robot to ascend and descend stairs of dimensions that are also typical of an urban setting. Stair Climbing is realized by equipping the robot's link joints with optimally designed passive spring pairs that resist clockwise and counter clockwise moments generated by the ground during the climbing motion. This 3-module robot is only propelled by wheel actuators. Desirable stair climbing configurations are estimated a-priori and used to obtain the optimal stiffness for springs. Extensive numerical simulation results over different stair configurations are shown. The numerical simulations are corroborated by experimentation using the prototype and its performance is tabulated for different types of surfaces.
TL;DR: It is suggested that in healthy subjects, the hip is the greatest contributor when modulating stair climbing speed, while additional knee contributions do not appear necessary to increase speed.
TL;DR: In this article, the authors investigated the effect of age, gender, medication use, cognitive status, lower extremity pathology and pain on the activities of stair negotiation in the elderly population in Turkish society.
Abstract: BACKGROUND: Stair climbing is an important but neglected aspect of independent living. Clinicians should pay attention to the ability to negotiate stairs in elderly and disabled patients. OBJECTIVE:The aim of this study was todetermine the effectsof age, gender, medication use, cognitive status, lower extremity pathology and pain on the activities of stair negotiation in the elderly population in Turkish society. METHODS: Volunteer elderly people (254) were included the study. Participants were assessed in terms of their medication use, cognitive status, lower extremity pathology and pain and the activity of climbing the stairs. RESULTS: Significant differences were found on the activities of stair negotiation between the elderly with and without lower extremity pathology, with and without lower extremity pain, with and without medication use ( p< 0.05). A positive and moderate correlation was found between age and the activity of stair climbing (r = 0.24, p< 0.01). CONCLUSIONS: Activity of stair climbing is affected by age, medication use, the presence of lower extremity pathology and pain. We consider that this information will be helpful for planning an appropriate and effective rehabilitation programme for elderly people for decreasing their risk of falling and increasing their independence level during their activities of daily living.
TL;DR: This paper presents a novel approach for stair climbing that is achievable by a small mobile robot with minimal actuators and sensors and, thus, cost.
Abstract: Stairs are a primary challenge for mobile robots navigating indoor human environments. Stair climbing is a useful, if not necessary, capability for mobile robots in urban search and rescue, security, cleaning, telepresence, elder care, and other applications. Existing stair climbing robots are large, expensive, and not always reliable, especially when descending stairs. In this paper, we present a novel approach for stair climbing that is achievable by a small mobile robot with minimal actuators and sensors and, thus, cost. The proposed robot has articulated tread assemblies on either side of a chassis. Using feedback control, the robot can balance on the edge of a single step. As the robot drives up the step, the chassis pivots to maintain the center of mass directly above the contact point. The dynamics of the system are derived with the Lagrangian method, and a discrete-time integral controller with friction compensation is designed to stabilize a stair climbing trajectory. The algorithms used to estimate the state of the system with low-cost noisy proprioceptive sensors are explained in detail. No external motion capture system is used. Simulation results are compared with successful experimental results.
TL;DR: The results showed that muscle activation amplitudes of lower limb increase with increasing load during stair climbing, the maximum RMS of gastrocnemius are greater than tibialis anterior, hamstring and rectus femoris whether stair climbing or level walking under the same load condition.
Abstract: Stair climbing under backpack load condition is a challenging task. Understanding muscle activation patterns of lower limb during stair climbing with load furthers our understanding of the factors involved in joint pathology and the effects of treatment. At the same time, stair climbing under backpack load requires adjustments of muscle activations and increases joint moment compared to level walking, which with muscle activation patterns are altered as a result of using an assistive technology, such as a wearable exoskeleton leg for human walking power augmentation. Therefore, the aim of this study was to analyze lower limb muscles during stair climbing under different backpack load. Nine healthy volunteers ascended a four-step staircase at different backpack load (0 kg, 10 kg, 20 kg, 30 kg). Electromyographic (EMG) signals were recorded from four lower limb muscles (gastrocnemius, tibialis anterior, hamstring, rectus femoris). The results showed that muscle activation amplitudes of lower limb increase with increasing load during stair climbing, the maximum RMS of gastrocnemius are greater than tibialis anterior, hamstring and rectus femoris whether stair climbing or level walking under the same load condition. However, the maximum RMS of hamstring are smaller than gastrocnemius, tibialis anterior and rectus femoris. The study of muscle activation under different backpack load during stair climbing can be used to design biomechanism and explore intelligent control based on EMG for a wearable exoskeleton leg for human walking power augmentation.
Patent•
05 Aug 2015
TL;DR: In this paper, an intelligent horizontal-attitude stair-climbing wheelchair and a rotary stair climbing method are presented. But the wheelchair is not equipped with a front leg lifting system and rear wheels.
Abstract: The invention provides an intelligent horizontal-attitude stair-climbing wheelchair and a rotary stair-climbing method The intelligent horizontal-attitude stair-climbing wheelchair comprises an upper plate, a switching plate and a lower plate, wherein the upper plate is fixedly connected with a chair, and rear wheels are arranged on the lower side of the chair The chair is connected with front legs through a front leg lifting system, and front wheels are arranged on the front legs The front leg lifting system lifts the front legs to a horizontal attitude, and four liftable outer legs are fixed to the lower side of the upper plate The upper plate and the switching plate are connected through a steering shaft and rotate relatively to each other through the steering shaft, and the switching plate and the lower plate are connected with each other through a leading screw and realize relative rectilinear motion through the leading screw Four liftable inner legs are fixed on the lower side of the lower plate, and the inner legs are arranged on the inner side of the outer legs The intelligent horizontal-attitude stair-climbing wheelchair runs on a level ground fast or slow, and climb stairs to realize two functions
TL;DR: SVM results indicated significantly altered muscle activation patterns in the TKA group for biceps femoris, semitendinosus, gastrocnemius, and tibialis anterior, indicative of cocontraction strategies, were evident in TKA MMPs.
Abstract: Total knee arthroplasty (TKA) patients commonly experience neuromuscular adaptations that may affect stair climbing competence. This study identified multimuscle pattern (MMP) changes in postoperat...
01 Nov 2015
TL;DR: A stair climbing wheelchair with four "X"-shaped wheel that uses its legs to climb and descend stairs and a PD control was implemented to control the position of the wheel so that they will be synchronized, therefore, capable of performing the climbing task at the same time and at theSame position.
Abstract: Stair climbing wheelchairs were created to help disabled people overcome one of the most common architectural barrier, stairs. Many types of devices have been developed using tracked, leg, leg-wheel and hybrid wheels to climb stairs but they are expensive, thus, out of the reach of the neediest. This paper presents a stair climbing wheelchair with four "X"-shaped wheel that uses its legs to climb and descend stairs. This mechanism maintains contact with the stair during climbing activity to perform better at the climbing task. The seat of the wheelchair provides 1 DOF so that the inclination angle can be changed in order to correct the position of the center of gravity to be close to the center of the supporting polygon. An inertial measurement unit (IMU) sensor was used to detect the angle of the seat in relation to the ground and by using a motor utilizing PID control, automatically balance the seat in the horizontal position. In order to climb stairs smoothly the angular position of the wheels should be the same, thus a PD control was implemented to control the position of the wheel so that they will be synchronized, therefore, capable of performing the climbing task at the same time and at the same position. Simulation and experimental results demonstrate the effectiveness of this mechanism and wheelchair.
TL;DR: The findings of this study indicate that the stepper exercise with visual feedback can help improve the strength of the hip extensor and the 10-m walking test; the Stepper exercise alone may also improve the knee extensor strength and stair climbing ability.
Abstract: [Purpose] This study investigated the effect of stepper exercise with visual feedback on strength, walking, and stair climbing in stroke patients. [Subjects] Twenty-six stroke patients were divided randomly into the stepper exercise with visual feedback group (n = 13) or the stepper exercise group (n = 13). [Methods] Subjects in the experimental group received feedback through the mirror during exercise, while those in the control group performed the exercise without visual feedback; both groups exercised for the 30 min thrice per week for 6 weeks. The hip extensor and knee extensor strength, 10-m walking test results, and 11-step stair climbing test results were evaluated before and after the intervention. [Results] The stepper exercise with visual feedback group showed significantly greater improvement for hip extensor strength and the 10-m walking test. The knee extensor strength and 11-step stair climbing in both groups showed significantly greater improvement after the intervention, but without any significant difference between groups. [Conclusion] The findings of this study indicate that the stepper exercise with visual feedback can help improve the strength of the hip extensor and the 10-m walking test; the stepper exercise alone may also improve the knee extensor strength and stair climbing ability.
17 Dec 2015
TL;DR: A paddle-aided stair-climbing motion is presented for this ePaddle-based robot that can roll on the stair as a traditional wheeled vehicle and also can climb up the stair under the help of its paddles.
Abstract: To gain high mobility on challenging terrains, a mobile robot based on eccentric paddle mechanism (ePaddle) with locomotion versatility has been proposed. In this paper, a paddle-aided stair-climbing motion is presented for this ePaddle-based robot. The robot can roll on the stair as a traditional wheeled vehicle and also can climb up the stair under the help of its paddles. Robot-stair interaction modes are presented and typical feasible postures of the robot in stair-climbing are discussed. Frictional requirements for the robot to hold a desired posture are evaluated by modelling statics of the robot. Analyzed results reveal that two critical scenarios in wheeled mode occur when the front-wheel is at the bottom of the riser, and when the rear-wheel is at the top of the riser, respectively. In contrast, frictional requirements of the paddle-aided stair-climbing postures confirm that the robot can climb up the stair with all feasible postures by touching the stair with the paddle, which verifies the effectiveness of the proposed paddle-aided stair-climbing.
TL;DR: In this article, the authors explore three point-of-choice campaigns to increase stair climbing at work and identify factors contributing to their effectiveness and provide recommendations to improve and optimize content.
Abstract: Purpose – Worksites have been targeted as an important setting for physical activity interventions. A recent emphasis for health promoters is the use of point-of-choice interventions to encourage stair climbing at work. The purpose of this paper is to explore three point-of-choice campaigns to increase stair climbing at work. Design/methodology/approach – Ten focus groups and a rating task were conducted with 59 employees from a University and a University Hospital in the UK. Focus groups were structured around three messages and four prompts and sought to explore the motivational power of the resources, identify factors contributing to their effectiveness and provide recommendations to improve and optimize content. Benefits and barriers to stair climbing at work were also explored. Focus groups were recorded, transcribed and coded to identify key themes. Findings – Intra-personal factors health, motivation, social norms and time management influence stair climbing at work. Critically, extra-personal fact...
01 Jan 2015
TL;DR: It is found that greater hip and knee angles, hip and knees moments are found in stair ascent compared to stair descent, and greater dorsi and plantar flexion are observed in stair descent than stair ascent.
Abstract: The purpose of this study is to investigate the kinetic and kinematic data while walking upstairs then compare the results with stair descent of the same step height and stair ascent of different step inclination from the published journals and analyze the influence of subject height in young individuals. The experiment is to use Qualysis Tracking Motion to capture the motion changes of lower limb joints while stair climbing which can be analyzed to develop visual 3D model. The visual 3D model can be used to analyze the gait simulation to produce data of joint angles, velocity, and moment of hip, knee, and ankle. The ground reaction forces and joint reaction force can be obtained using force plate and inverse kinematics respectively. As a result, it is found that greater hip and knee angles, hip and knee moments are found in stair ascent compared to stair descent. Greater dorsi and plantar flexion are observed in stair descent than stair ascent. The maximum value of hip, knee, and ankle joints are rising in accordance with the increases of subject heights and different inclination. The data obtained can be used for further research to develop assistive techniques for the rehabilitation of the human lower extremity.
TL;DR: The test-retest reliability of the ST was very high for the patients with THA, and the SEM and MDC90 were adequate for clinical use, suggesting the ST is less time consuming and has very high reliability to measure the functional level after THA in the clinical setting.
Abstract: PurposeStair climbing is one of the important functional activities of daily living to maintain mobility and independence. Walking and stair climbing have been identified by clinicians and patients...
TL;DR: Compared to controls, patients with end-stage medial compartment knee osteoarthritis use greater pelvic movements during advanced functional performance tests, particularly when these involve descending tasks.
Abstract: During movement tasks, patients with medial compartment knee osteoarthritis use compensatory strategies to minimise the joint load of the affected leg. Movement strategies of the knees and trunk have been investigated, but less is known about movement strategies of the pelvis during advancing functional tasks, and how these strategies are associated with leg extension power. The aim of the study was to investigate pelvic movement strategies and leg extension power in patients with end-stage medial compartment knee osteoarthritis compared with controls. 57 patients (mean age 65.6 years) scheduled for medial uni-compartmental knee arthroplasty, and 29 age and gender matched controls were included in this cross-sectional study. Leg extension power was tested with the Nottingham Leg Extension Power-Rig. Pelvic range of motion was derived from an inertia-based measurement unit placed over the sacrum bone during walking, stair climbing and stepping. Patients had lower leg extension power than controls (20–39 %, P 0.06). Furthermore, an inverse association (coefficient: −0.03 to −0.04; R
2 = 13–22 %) between leg extension power and pelvic range of motion during stair and step descending was found in the patients. Compared to controls, patients with medial compartment knee osteoarthritis use greater pelvic movements during advanced functional performance tests, particularly when these involve descending tasks. Further studies should investigate if it is possible to alter these movement strategies by an intervention aimed at increasing strength and power for the patients.
DOI•
01 Jan 2015
TL;DR: The main component of the wheelchair structure is a three-wheel locomotion unit that allows obstacle climbing thanks to an epicycloidal transmission and an idle track that behaves like a second foothold giving static stability during stair-climbing.
Abstract: This paper presents a solution for a stair-climbing wheelchair that can climb single steps or entire staircases. This device was designed in order to ensure greater autonomy for people with reduced mobility . The main component of the wheelchair structure is a three-wheel locomotion unit that allows obstacle climbing thanks to an epicycloidal transmission. The other characteristic element is an idle track that behaves like a second foothold giving static stability during stair-climbing. Another important feature concerned with this design is a reconfiguration mechanism that makes the wheelchair suitable both for stair-climbing and for moving on flat ground. This feature allows performances and overall dimensions comparable to traditional electric wheelchairs. The choice and design of the mechanisms for the reconfiguration phase are the main topics discussed in this article and represent the principal innovations of this wheelchair compared to earlier versions.
TL;DR: The study tested the hypothesis that separating stairway from escalator between pairs of origin and destination floors in a shopping center would increase the rate at which the stairway was used, and the distance between stair and nearest escalator yielded a 95% increase in stair climbing.
Abstract: The study tested the hypothesis that separating stairway from escalator between pairs of origin and destination floors in a shopping center would increase the rate at which the stairway was used. The study site included 13 stairways and 12 pairs of escalators in seven connected shopping centers. A total of 33,793 pedestrians were counted ascending or descending over 35 days. Simultaneous flow rates up and down among centers correlated at r = .89. Distance between stairway and escalator accounted for 71% of variance in the ascending model and 21% in the descending model, with height between floors resulting in slightly diminished pedestrian volumes, and overall pedestrian volume accounting for less than proportional increases in stair climbing and descending. A 100% increase in distance between stair and nearest escalator yielded a 95% increase in stair climbing.
TL;DR: It is possible that poor balance is one of the reasons why stroke patients are unable to start walking fluently from the sitting position and the relationship between FI and indices of physical ability, namely stair climbing and balance, may have therapeutic benefits for coaching the STW task to stroke patients.
Abstract: Purpose: Generally, stroke patients can walk and stand up fluidly but fulfill the sit-to-walk (STW) task with difficulty. The purpose of this study was to investigate the relationship between movement fluidity and motor strategy in the initial contact of the STW task. Method: Thirty stroke patients and ten healthy subjects performed the STW task from a sitting position, and their movement was measured by a motion analysis system. The differences in data between patients and healthy subjects were analyzed using the Mann-Whitney U test. The relationship between fluidity index (FI) and other indices (kinetic and kinematic data in STW, functional independence measure [FIM], and Fugl-Meyer Assessment [FMA]) were analyzed using Spearman's rank correlation coefficient. Results: The stroke patients had lower FI values than the healthy subjects and exhibited shortened step length and prolonged duration from onset to the first stance leg off. FI values correlated with trunk flexure angle at initial contact, first step length, and maximum vertical floor reaction force. The independent level of the FIM of stair climbing and walking ability and the FMA of balance also correlated with FI. Conclusion: There is a possibility that poor balance is one of the reasons why stroke patients are unable to start walking fluently from the sitting position. To perform the STW fluidly, patients must start walking before the trunk extension is fully completed. The relationship between FI and indices of physical ability, namely stair climbing and balance, may have therapeutic benefits for coaching the STW task to stroke patients.
TL;DR: The Stair A is a reliable tool for the assessment of SC and has no significant correlations between SC and jump parameters and only moderate correlations with the IPAQ.
Abstract: Objectives Stair climbing (SC) as daily activity is assessed with different SC-tests, but none directly measures ground reaction force over several steps. The Leonardo Mechanograph Stair A has five steps and four force sensors. This study aimed at investigating the reliability of the Stair A test for force, power and time to SC. Methods 55 healthy participants (age: 48±14 years) were five times tested during SC with self-chosen and fast speed. 30 participants were examined for test-retest-reliability, calculated with the intraclass correlation coefficient (ICC). The variability was examined with the coefficient of variation (CV). To determine potential associations between SC and jumping performance or daily activity, squat and countermovement jumps were additionally performed and the International physical activity questionnaire (IPAQ) was completed. Results The inter-visit ICCs of self-chosen and fast SC were good to excellent 0.63-0.77. The intra-visit ICCs were excellent after three trials (0.78-0.88). The CVs for SC with self-chosen speed were lower (2.1-6.6%) than those for fast SC (4.9-10.8%). There were no significant correlations between SC and jump parameters and only moderate correlations with the IPAQ. Conclusion The Stair A is a reliable tool for the assessment of SC.
TL;DR: Preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex are presented, which uses an RGBD camera for stair acquisition and offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time.
Abstract: This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.