Showing papers on "Stair climbing published in 2017"

Brief Intense Stair Climbing Improves Cardiorespiratory Fitness

Abstract: PurposeSprint interval training (SIT) is a time-efficient strategy to improve cardiorespiratory fitness (CRF); however, most protocols have been studied in laboratory settings and require specialized equipment. We investigated the efficacy of brief intense stair climbing as a practical model

Mind Your Step: the Effects of Mobile Phone Use on Gaze Behavior in Stair Climbing.

Abstract: Stair walking is a hazardous activity and a common cause of fatal and non-fatal falls. Previous studies have assessed the role of eye movements in stair walking by asking people to repeatedly go up and down stairs in quiet and controlled conditions, while the role of peripheral vision was examined by giving participants specific fixation instructions or working memory tasks. We here extend this research to stair walking in a natural environment with other people present on the stairs and a now common secondary task: using one’s mobile phone. Results show that using the mobile phone strongly draws one’s attention away from the stairs, but that the distribution of gaze locations away from the phone is little influenced by using one’s phone. Phone use also increased the time needed to walk the stairs, but handrail use remained low. These results indicate that limited foveal vision suffices for adequate stair walking in normal environments, but that mobile phone use has a strong influence on attention, which may pose problems when unexpected obstacles are encountered.

Promoting workplace stair climbing: sometimes, not interfering is the best

Abstract: Stair climbing is a vigorous activity and can lead to several health benefits. Studies seeking to increase stair climbing in various public locations have shown positive effects, while results from similar studies conducted in the workplace are inconclusive. This study examined stair climbing in the workplace, and monitored effects from a single- and a combined intervention. Interventions were inspired by nudging, the libertarian method of influencing behavior. By quasi-experimental design, stair- and elevator traffic in two office buildings was monitored preceding-, during- and following interventions with stair leading footprints alone, and combined with stair-riser banners. Chi square tests were applied to determine differences between baseline and the subsequent periods. Web-based questionnaires were distributed after follow-up period. Elevators and stairs were used 45 237 times, of which 89.6% was stair use. Intervention site stair climbing at baseline (79.0%) was significantly reduced with footprints (-5.1%, p 0.027). Stair climbing was significantly reduced during the intervention periods. Use of stair leading footprints alone, or combined with stair-riser banners in an attempt to influence stair climbing may be ineffective, or cause a negative reaction, when applied in a workplace with a pre-existing high amount of stair climbing.

Kinematic analysis of stair climbing in rotating platform cruciate-retaining and posterior-stabilized mobile-bearing total knee arthroplasties.

Abstract: Introduction The aim of our study was to compare and contrast the effects of two types of mobile-bearing total knee arthroplasties (TKA), namely, the cruciate-retaining (CR) and posterior-stabilized (PS) TKAs, on clinical outcomes and in vivo kinematics during stair climbing.

Electric-powered wheelchair with stair-climbing ability

Abstract: As an autonomic and convenient assistance device for people with disabilities and the elderly climbing up and down stairs, electric-powered wheelchairs with stair-climbing ability have attracted gr...

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot

Abstract: This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment, we present empirical work-arounds for the Minitaur quadrupedal platform that enable it to leap up, force the door handle and push through the door, as well as bound up the stairs, thereby accomplishing through dynamical maneuvers otherwise (i.e., quasi-statically) unachievable tasks.

Repeated 3-minute stair climbing-descending exercise after a meal over 2 weeks increases serum 1,5-anhydroglucitol levels in people with type 2 diabetes

Abstract: [Purpose] The purpose of this study was to examine the hypoglycemic effect of a postprandial exercise program using brief stair climbing-descending exercise in people with type 2 diabetes. [Subjects and Methods] Seven males with uncomplicated type 2 diabetes (age 68.0 ± 3.7 years) performed two sets of stair climbing-descending exercise 60 and 120 min after each meal for the first 2 weeks but not for the following 2 weeks. Each set of exercise comprised 3-min of continuous repetition of climbing briskly to the second floor followed by slow waking down to the first floor in their home. A rest period of 1-2 min was allowed between each set. [Results] Serum 1,5-anhydroglucitol level was significantly higher by 11.5% at the end of the 2-week exercise period than at the baseline. By contrast, the 1,5-anhydroglucitol level at the end of the following 2-week period did not differ from the baseline value. Fasting blood glucose level and insulin resistance index at the end of the exercise period did not differ from the baseline value. [Conclusion] Repeated 3-min bouts of stair climbing-descending exercise after a meal may be a promising method for improving postprandial glycemic control in people with type 2 diabetes.

Are motivational signs to increase stair use a thing of the past? A multi-building study.

Abstract: Issue addressed Only half of Australia's adult population is sufficiently physical active. One method thought to increase incidental physical activity at work is the use of stair-promoting interventions. Stairs are readily available and stair climbing is considered vigorous physical activity. Motivational signs have been extensively and effectively trialled to increase stair use, but are they suitable for contemporary populations? Methods Participants were occupants of three selected University of Sydney buildings using the elevators or stairs. Infrared people counters were installed to monitor stair and elevator use for 24 h/day during two baseline weeks, followed by two intervention weeks, where motivational and directional signs were placed at points of choice. Results At baseline there was a large between-building variation in the change in stair to elevator proportion, where we observed a small increase in two buildings (81-84%, odds ratio (OR): 1.16 (1.09, 1.23), and 26-27%, OR: 1.09 (1.03, 1.15)), and a decrease (30-25%, OR: 0.75 (0.72, 0.77) in the third building. Conclusions Differences in stair use among buildings could be due to building design and function. Motivational and directional signs to promote stair use showed small or nil effects. The future of interventions promoting stair use in occupational settings may need more interactive or personalised intervention methods. So what? The implications of this study are that posters to promote stair use might be a thing of the past and this should be considered in future workplace health promotion efforts to increase physical activity. More novel and interactive methods using new media are recommended.

Markerless knee joint position measurement using depth data during stair walking

Abstract: Climbing and descending stairs are demanding daily activities, and the monitoring of them may reveal the presence of musculoskeletal diseases at an early stage. A markerless system is needed to monitor such stair walking activity without mentally or physically disturbing the subject. Microsoft Kinect v2 has been used for gait monitoring, as it provides a markerless skeleton tracking function. However, few studies have used this device for stair walking monitoring, and the accuracy of its skeleton tracking function during stair walking has not been evaluated. Moreover, skeleton tracking is not likely to be suitable for estimating body joints during stair walking, as the form of the body is different from what it is when it walks on level surfaces. In this study, a new method of estimating the 3D position of the knee joint was devised that uses the depth data of Kinect v2. The accuracy of this method was compared with that of the skeleton tracking function of Kinect v2 by simultaneously measuring subjects with a 3D motion capture system. The depth data method was found to be more accurate than skeleton tracking. The mean error of the 3D Euclidian distance of the depth data method was 43.2 ± 27.5 mm, while that of the skeleton tracking was 50.4 ± 23.9 mm. This method indicates the possibility of stair walking monitoring for the early discovery of musculoskeletal diseases.

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

Abstract: Recent advances in mobile robotic technologies have enabled significant progress to be made in the development of Stair-Climbing Mobility Systems (SCMSs) for people with mobility impairments and limitations. These devices are mainly characterized by their ability to negotiate those architectural barriers associated with climbing stairs (curbs, ramps, etc.). The development of advanced trajectory generators with which to surpass such architectural barriers is one of the most important aspects of SCMSs that has not yet been appropriately exploited. These advanced trajectory generators have a considerable influence on the time invested in the stair climbing process and on passenger comfort and, consequently, provide people with physical disabilities with greater independence and a higher quality of life. In this paper, we propose a new nonlinear trajectory generator for an SCMS. This generator balances the stair-climbing time and the user’s comfort and includes the most important constraints inherent to the system behavior: the geometry of the architectural barrier, the reconfigurable nature of the SCMS (discontinuous states), SCMS state-transition diagrams, comfort restrictions and physical limitations as regards the actuators, speed and acceleration. The SCMS was tested on a real two-step staircase using different time-comfort combinations and different climbing strategies to verify the effectiveness and the robustness of the proposed approach.

The development of a multi-legged robot using eight-bar linkages as leg mechanisms with switchable modes for walking and stair climbing

Abstract: This paper introduces an innovative design of a multi-legged robot with switchable modes for walking and stair climbing. The Jansen-type eight-bar linkages are used as leg mechanisms with a new set of link dimensions (identified by the proposed path synthesis method) to generate foot trajectory for stair climbing motion. The objective function of the proposed path synthesis method is to minimize the tacking error between the target and generated trajectories. A counterweight slider to adjust the center of gravity of the multi-legged robot is used to switch the robot to either walking mode or stair climbing mode. The system design, and simulation results by using the commercial multibody dynamic analysis software, RecurDyn, are provided. The proposed design is prototyped, and can be remote controlled by a smartphone through Arduino and its Bluetooth module. The eight legs of the robot are driven by a dual-output-shaft DC motor through two gear trains. The simulated and experimental results show the developed robot is capable for both legged walking and stair climbing.

Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing

Abstract: Stair climbing is still a challenging task for humanoid robots, especially in unknown environments. In this paper, we address this problem from perception to execution. Our first contribution is a real-time plane-segment estimation method using Lidar data without prior models of the staircase. We then integrate this solution with humanoid motion planning. Our second contribution is a stair-climbing motion generator where estimated plane segments are used to compute footholds and stability polygons. We evaluate our method on various staircases. We also demonstrate the feasibility of the generated trajectories in a real-life experiment with the humanoid robot HRP-4.

The Effect of Lumbar Disc Herniation on Musculoskeletal Loadings in the Spinal Region During Level Walking and Stair Climbing

Abstract: BACKGROUND People with low back pain (LBP) alter their motion patterns during level walking and stair climbing due to pain or fear. However, the alternations of load sharing during the two activities are largely unknown. The objective of this study was to investigate the effect of LBP caused by lumbar disc herniation (LDH) on the muscle activities of 17 main trunk muscle groups and the intradiscal forces acting on the five lumbar discs. MATERIAL AND METHODS Twenty-six healthy adults and seven LDH patients were recruited to perform level walking and stair climbing in the Gait Analysis Laboratory. Eight optical markers were placed on the bony landmarks of the spinous process and pelvis, and the coordinates of these markers were captured during the two activities using motion capture system. The coordinates of the captured markers were applied to developed musculoskeletal model to calculate the kinetic variables. RESULTS LDH patients demonstrated higher muscle activities in most trunk muscle groups during both level walking and stair climbing. There were decreases in anteroposterior shear forces on the discs in the pathological region and increases in the compressive forces on all the lumbar discs during level walking. The symmetry of mediolateral shear forces was worse in LDH patients than healthy adults during stair climbing. CONCLUSIONS LDH patients exhibited different kinetic alternations during level walking and stair climbing. However, both adaptive strategies added extra burdens to the trunk system and further increased the risk for development of LDH.

Design analysis of TuskBot: Universal stair climbing 4-wheel indoor robot

Abstract: There are two major challenges in universal stair climbing: stairs without riser and with nose, and stairs with various dimensions. In this study, we proposed an indoor robot platform to overcome these challenges. First, to create an angle of attack, the Tusk, a passive, protruded element, was added in front of a 4-wheel robot. For design analysis and optimization of the Tusk, a simplified model of universal stair climbing was applied. To accommodate stairs without risers and with nose, the assistive track mechanism was applied. To climb the stair regardless of its dimension, length-adjustable mechanism was added. The results indicated the robot with these mechanisms successfully overcame each challenge. The performance was better than most conventional stair-climbing robots in terms of the range of compatible stairs. We expect these new approaches to expand the range of indoor robot operation with minimal cost.

Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

Abstract: In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

Proposition of stair climb of a drop using chemical wettability gradient

Abstract: We propose a passive technique for a drop to climb along the staircase textured surface using chemical wettability gradients. The stair structure, droplet configuration, and contact angle gradient are modeled using Lagrangian smoothed particle hydrodynamics. The stair climb efficiency of the droplet is found to be a function of wettability gradient strength. Using analytical balance of actuation and resistive forces across droplets, physical reasons behind stair climbing are established and influencing parameters are identified. Evolution of the droplet shape along with the advancing and the receding contact angles is presented from where instantaneous actuation and hysteresis forces are calculated. Using history of Lagrangian particles, circulation at the foot of stairs and progressing development of the advancing drop front are monitored. Higher efficiency in stair climbing in the case of a bigger sized drop than smaller one is obtained from simulation results and realized from force balance. Difficulty in climbing steeper stairs is also demonstrated to delineate the effect of gravitational pull against the actuation force due to the wettability gradient.

Stair climbing cart with automatic switching of wheels and crawlers

Abstract: The invention discloses a stair climbing cart with automatic switching of wheels and crawlers. The stair climbing cart comprises a rack, two sets of traveling systems and a traveling-system switching device, wherein one set of traveling system is crawler traveling systems, and the other set of traveling system is a driving-wheel traveling system; the traveling modes of the two sets of traveling systems are switched by the traveling-system switching device; the two sides of the rack are provided with the crawler traveling systems; each crawler traveling system comprises a crawler, a crawler driving wheel, a plurality of driven wheels, a swinging wheel, a crawler driving system and a swinging-wheel retracting and extending mechanism; the driving-wheel traveling system comprises an inner rack, a universal wheel, a driving wheel, a universal-wheel retracting and extending mechanism and a driving-wheel driving system; the rack is internally provided with the inner rack and is connected with the traveling-system switching device by the traveling-system switching device; the inner rack can realize switching of the traveling modes under the action of the traveling-system switching device. The stair climbing cart disclosed by the invention has the advantages that the chassis switching is carried out by adopting the two sets of traveling systems and a wheel-crawler switching mechanism; the structure is compact, the switching is convenient, and the functions of climbing stairs, traveling on flat ground and crossing obstacles and ditches are achieved.

Planetary wheel type obstacle crossing robot stair climbing control method

Abstract: The invention discloses a planetary wheel type obstacle crossing robot stair climbing control method. The planetary wheel type obstacle crossing robot stair climbing control method comprises the following steps that (1) an obstacle crossing robot keeps moving forwards at a constant speed linearly, the distance between two planetary wheel sets of the same driving set and a step in the front as well as the rotating speed of the planetary wheel sets are measured, and the deflection angle is calculated; (2) the theoretical rotating speed of both the planetary wheel sets is calculated, and the planetary wheel sets move at the calculated rotating speed; (3) the L1 and the L2 in the current are detected, and the current deflection angle theta is calculated; (4) whether the current deflection angle theta exceeds the preset value or not is judged, if yes, the step (2) is executed again, and if not, the robot is controlled to continue to move forward at the constant speed linearly; (5) whether the two planetary wheel sets arrive at the step or not is judged, if not, the robot continues to move forward at the constant speed linearly, and if yes, the two planetary wheel sets turns over together to cross the step; and (6) whether the two planetary wheel sets arrive at the destination or not is judged, if yes, the steps from (1) to (5) are repeated, and if yes, the robot is stopped moving. The planetary wheel type obstacle crossing robot stair climbing control method has the advantages that control operation is simple, and the steering precision is high.

Approach to autonomous stair climbing for tracked robot

Abstract: The problem of autonomous stair climbing has severely restricted the application of mobile robot indoor environment We present an algorithm for autonomous stair recognition and climbing for tracked robot, which is based on depth data provided by Kinect v2 depth sensor The control algorithm is composed of five sub modules, which are to explore the stairs, locate the stairs, calculate tilt angle of the stairs, climb the stairs, and land Staircase model is a parallel line with a certain depth difference The entire control algorithm has only two inputs: the distance D of the tracked robot relative to the stairs and the angle θ relative to the stairs The two inputs are used to make the tracked robot in different sub modules Experimental results have verified that the algorithm can solve the practical problems encountered in the application of indoor tracked robot

Functional evaluation before lung resection: searching for a low technology test in a safer environment for the patient: a pilot study.

Abstract: OBJECTIVES Stair climbing is considered the first step for functional evaluation of patients requiring anatomical lung resection who have low-predicted postoperative forced expiratory volume in the first second of expiration (FEV1) or diffusing capacity of the lungs for carbon monoxide (DLCO) values. Nevertheless, stair climbing is not performed in many centres because of structural issues or patient safety concerns. We hypothesized that comparable exercise can be obtained on an ergometric bicycle in a safer environment where any adverse event can be treated. We tried to correlate the amount of exercise performed by stair climbing and by using an ergometric bicycle in a series of patients with non-small-cell lung cancer (NSCLC) evaluated prospectively. METHODS Thirty-four consecutive patients with NSCLC who were scheduled for lung resection were prospectively enrolled to complete two low-technology exercise tests: The first one was stair climbing, and the second was a ramp test on an ergometric bicycle. For most patients (85%), both tests were performed on the same day, separated with at least 2 h of rest. The amount of exercise on the stair-climbing test (in watts: Watt 1) was calculated per patient weight, height reached on stairs and time spent. The bicycle test was performed on a Lode Corival ergometer with automatic calculation of the total work load (Watt 2). No estimation of VO 2 max was attempted. The bicycle test was conducted in an ad-hoc room fully equipped with oxygen, cardiac and blood pressure and PO 2 monitoring and resuscitation equipment. The Bland-Altman plot was used to evaluate the agreement between both tests. A linear regression model was constructed in which the power developed on the stairs was the dependent variable and the watts generated on the bicycle and patient age were the covariates. RESULTS All patients (median age: 65.5 years; range: 41-84), completed both tests without any adverse events. The number of watts was greater on the stairs tests (mean 227 vs 64 on the ergometric bicycle). The Bland-Altman plot showed agreement between tests in most cases (Pitman-Morgan test: 0.96). Work load was more dependent on age in the stairs tests (Pearson coefficient -0.72 on stairs; -0.52 on ergometric bicycle). The logistic model was highly predictive when the workload on the bicycle was corrected by the patient's age ( R 2 = 0.80; Wald test <0.001). CONCLUSIONS This simple test on an ergometric bicycle shows a high correlation with the widely accepted stair-climbing test when workload results are corrected using the patient's age. It could replace the stair-climbing test and has the advantage of being conducted in an environment that is safer for the patient. Nevertheless, its reliability for risk prediction needs to be adequately evaluated.

Functional predictors of stair-climbing ability in older adults

Abstract: Stair climbing is a functional activity that is essential to independent mobility in most community settings. The inability to use stairs to access multi-story facilities may create a social disadvantage for some older adults, not to mention an increased injury risk. Although statistics on falls and fall-related injuries among older adults have been well documented by multiple investigators, fewer studies have focused on the incidence of falls involving steps or stairs. Of the 20,823 fall-related deaths reported by the National Safety Council in 2006, approximately 9% occurred on steps/stairs [1]. More recently, the Consumer Product Safety Commission [2] documented injuries among people aged 65 and older that were caused by various consumer products and required emergency care. They reported over 200,000 injuries and more than 2,000 deaths specifically associated with stairs or steps; common injuries included fractures (29.3%), contusions/ abrasions (22.1%), internal injuries (16%), lacerations (10%) and sprains/strains (7.9%). In a Canadian study of patients admitted to an urban hospital, Ragg et al. [3] reported that 46% of stairway falls involved people over age 60, most of who fell in their own homes. The mortality rate (52%) for this age group was more than double that of younger patients, with head and neck trauma cited as the leading cause of death. Although many older adults prefer living in single-story dwellings, these data create a safety concern for those residing in multi-story buildings who must be able to negotiate stairs in the event of an emergency, such as fire, when elevators are inoperable. A report issued by the United States Fire Administration [4] indicated that 30% of all fire-related deaths involved older adults, a finding which clearly suggests a higher safety risk for this population.