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Stair climbing

About: Stair climbing is a research topic. Over the lifetime, 1610 publications have been published within this topic receiving 30504 citations.


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Journal ArticleDOI
TL;DR: A novel ZUPT system which can be used in a wide range of human activities, including walking, running, and stair climbing by using two inertial measurement unit IMU modules attached on the centre of the human body for human activities' classification and recognition.
Abstract: Previous studies show that inertial sensor-based personal positioning benefited from Zero Velocity Update ZUPT method by resetting the foot speed at every foot step. However, only the solution for normal pedestrian movement with small velocity like walking was given. This paper presents a novel ZUPT system which can be used in a wide range of human activities, including walking, running, and stair climbing by using two inertial measurement unit IMU modules. One is attached on the centre of the human body for human activities' classification and recognition. The other one is mounted on the foot for ZUPT algorithm implementation based on the result of activities' recognition. Test cases include stair climbing by walking and running, walking, fast walking, and running. In all cases, most of the steps are able to be detected and the new ZUPT system can be successfully implemented.

11 citations

Proceedings ArticleDOI
01 Nov 2008
TL;DR: A new robotic model of the human leg that transfers power from motors on the hip to the ankle and the importance of timing in maximizing the force transfer to push off at the toe is explored.
Abstract: Biarticulate muscles have been shown to perform the function of power transfer from the upper to lower leg, such as in tasks such as running, jumping, and stair climbing. A new robotic model of the human leg is described. This robotic leg transfers power from motors on the hip to the ankle. The importance of timing in maximizing the force transfer to push off at the toe is explored.

10 citations

Proceedings ArticleDOI
17 Oct 2008
TL;DR: A robot designed to move up-and-down stairs to provide service for the elders, equipped with two brushless dc motors and their drives for locomotion, worm gears for torque amplification, and DSP-based board as control center.
Abstract: Taiwan and other developed countries have being experienced an emergence of a growing aging population. Home-caring robot is an excellent candidate capable of supporting such an aging society. In the paper, a robot is designed to move up-and-down stairs to provide service for the elders. The robot consists of a main body for moving, a front arm and a rear arm for moving up and down stairs. The main body is equipped with two brushless dc motors (BLDCMs) and their drives for locomotion, worm gears for torque amplification, two dc motors to control two arms, and DSP-based board as control center. The robot is equipped with roller chains attached with rubber blocks used to generate friction with ground and stairs for moving. The distance between any two rubber blocks is properly arranged to fix the stair brink. The moving direction of the robot is steered based on the speed difference of two BLDCMs and the information from ultrasonic sensors. A walking experiment of moving up and down stairs with the rise of 120 mm and depth of 400 mm is shown in the video.

10 citations

Patent
30 Mar 1988
TL;DR: In this paper, a stair climbing wheelchair for the handicapped is described, where each wheel pair has two wheels each provided with a rim and a center axis, and two drive shafts are provided for each wheel, the wheel shafts extending parallel to one another and to the center axis and being driven jointly.
Abstract: A stair climbing device, such as a wheelchair for handicapped comprises a frame having two sides, two wheel pairs each arranged on a respective one of the sides of the frame, each of the wheel pairs having two wheels each provided with a rim and a center axis, two drive shafts provided for each wheel pair, the drive shafts extending parallel to one another and to the center axis and being driven jointly, the wheels of each of the wheel pairs being turnable relative to the frame about the drive shafts, each of the drive shafts being provided with a hub disc with which it is eccentrically connected, the rim of each of the wheels being concentrically and rotatably supported on a a respective one of the hub discs.

10 citations

Journal ArticleDOI
TL;DR: The results of this study demonstrate that the effect of loading upon power output measurements can be extended to running up a ramp, and it was possible using the ramp to observe a maximal power output value for each subject.
Abstract: Previous studies have shown that external loading increases the power output measured during stair climbing. However, it was noted in an earlier study that stairtreads form mechanical contraints which limit the extent to which a subject can be externally loaded, and, thereby, make it impossible to observe maximal power output for this type of activity. The purpose of this study was to compare the effects of external loading upon power output when running up stairs or a ramp. Since a ramp is free of the mechanical constraints of stairtreads, it was felt that higher power output values would be achieved using the ramp, and that it would be possible to observe an asymptote in power output which could not be obtained for stair climbing. Seven male subjects performed maximal ramp and stair climbing tests under five experimental loading conditions (no external load, 10.1, 19.2, 24.2, and 29.2 kg). For the ramp, it was possible to employ a sixth loading condition of 34.2 kg. For stair climbing, the mean (±SD) power output values under the five experimental conditions were 16.6±0.7, 17.3±1.3, 18.5±1.0, 18.6±1.5, and 18.9±1.7 W·kg−1, respectively. In contrast, the mean (± SD) power output values observed while running up the ramp were 18.8±1.4, 19.9±1.6, 20.5±1.6, 20.1±2.1, 20.3±2.1, and 19.8±1.9 W·kg−1, respectively. At each experimental condition, the differences between the ramp and stairs was significant (P<0.05). For the ramp, the highest mean power output occurred at a load of 19.2 kg. Beyond this load, power output progressively declined. In contrast, for the stairs, the highest power output occurred at a load of 29.2 kg. The results of this study demonstrate that the effect of loading upon power output measurements can be extended to running up a ramp. Furthermore, unlike stair climbing, it was possible using the ramp to observe a maximal power output value for each subject.

10 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202344
2022121
202165
202090
2019129
201896