Topic
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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TL;DR: This paper addresses walking pattern synthesis and sensory feedback control for humanoid stair climbing and the effectiveness of the proposed method was confirmed by walking experiments on a 32-degree-of-freedom humanoid robot.
Abstract: Stable and robust walking in various environments is one of the most important abilities for a humanoid robot. This paper addresses walking pattern synthesis and sensory feedback control for humanoid stair climbing. The proposed stair-climbing gait is formulated to satisfy the environmental constraint, the kinematic constraint, and the stability constraint; the selection of the gait parameters is formulated as a constrained nonlinear optimization problem. The sensory feedback controller is phase dependent and consists of the torso attitude controller, zero moment point compensator, and impact reducer. The online learning scheme of the proposed feedback controller is based on a policy gradient reinforcement learning method, and the learned controller is robust against external disturbance. The effectiveness of our proposed method was confirmed by walking experiments on a 32-degree-of-freedom humanoid robot.
117 citations
TL;DR: In community-dwelling older people, impaired stair negotiation is associated not only with reduced strength but also with impaired sensation, strength, and balance; reduced vitality; presence of pain; and increased fear of falling.
Abstract: Background. An inability to negotiate stairs is a marker of disability and functional decline and can be a critical factor in loss of independence in older people. There is limited research on the underlying factors that impair performance in this important activity of daily living. We examined which physical and psychological factors are associated with stair climbing and stair descending performance in older people. Methods. Six hundred sixty-four community-dwelling people aged 75–98 years (mean age ¼ 80.1 years, standard deviation (SD) ¼ 4.4 years) underwent stair negotiation tests as well as tests of lower limb strength, vision, peripheral sensation, reaction time, and balance and completed questionnaires measuring psychological and health status. Results. Many physiological and psychological factors were significantly associated with stair negotiation speed. Multiple regression analyses revealed that knee extension and knee flexor strength, lower limb proprioception, edge contrast sensitivity, reaction time involving a foot-press response, leaning balance, fear of falling, and the Short-Form 12 Health Status Questionnaire (SF-12) pain and vitality scores were significant and independent predictors of stair ascent and descent performance. The combined set of variables explained 47% of the variance in stair ascent performance and 50% of the variance in stair descent performance. Measures of strength, balance, vision, fear, and vitality also significantly discriminated between persons who did and did not require the use of the handrail when performing the tests. Discussion. In community-dwelling older people, impaired stair negotiation is associated not only with reduced strength but also with impaired sensation, strength, and balance; reduced vitality; presence of pain; and increased fear of falling.
115 citations
TL;DR: In general, the tibial forces recorded during walking and stair climbing were lower than most predicted values, which should lead to refined surgical techniques and to enhanced prosthetic designs that will improve patient function, patient quality of life, and longevity of total knee arthroplasty implants.
Abstract: Tibial forces were measured in vivo during the first year after total knee arthroplasty in a 66 kg, 80-year-old man Forces were measured during activities of daily living, rehabilitation, and exercise Peak tibial forces recorded during walking increased up to 12 months postoperatively (28 times body weight) Tibial forces correlated with increasing speed during treadmill walking Rising from a chair generated peak forces of 26 times body weight Stair descent generated higher peak forces than stair ascent (33 versus 29 times body weight, respectively) Exercising on a stair-climbing machine generated forces close to two times body weight whereas stationary bicycling generated even lower forces, near one times body weight In general, the tibial forces recorded during walking and stair climbing were lower than most predicted values These measurements can be used to validate in vitro and mathematical models of the knee This should lead to refined surgical techniques and to enhanced prosthetic designs that will improve patient function, patient quality of life, and longevity of total knee arthroplasty implants
115 citations
TL;DR: The rotating platform knee design did not decrease the prevalence of lateral retinacular release or patellar tilt or subluxation and did not increase knee flexion or improve stair climbing ability at 3 months or at 1 year postoperatively when compared with a posterior-stabilized, fixed-bearing knee.
Abstract: Renewed interest in mobile-bearing total knee replacement designs has been generated by the concept of self alignment and the suggestion that those designs can accommodate small mismatches in the rotational position of the tibial and femoral components. Self alignment might improve patellar tracking, decrease the prevalence of lateral retinacular release and postoperative patellar tilt or subluxation, improve knee flexion, and improve patellofemoral function during daily activities such as stair climbing. This prospective randomized study of 240 patients used a single posterior-stabilized femoral component and included three groups of 80 patients: an all-polyethylene group, a modular metal-backed group, and a rotating platform tibia group. The prevalence of lateral retinacular release was 3.8% in each group. The prevalence of patellar tilt was 5% (all-polyethylene group), 7% (modular metal-backed group), and 11% (rotating platform group). Preoperative motion was not significantly different and both the 3-month flexion (112°, 110°, and 108°) and 1-year flexion (116°, 117°, and 115°) were not significantly different among the all-polyethylene, modular metal-backed, and rotating platform groups, respectively. Preoperative stair climbing scores were not significantly different and both the 3-month (38, 41, and 35 points) and 1-year (44, 46, and 42 points) scores were not significantly different. In this prospective randomized study, the rotating platform knee design did not decrease the prevalence of lateral retinacular release or patellar tilt or subluxation and did not increase knee flexion or improve stair climbing ability at 3 months or at 1 year postoperatively when compared with a posterior-stabilized, fixed-bearing knee.
113 citations
TL;DR: Examined individually, self-reported difficulty climbing down stairs captured a wider spectrum of ADL limitations than climbing up stairs, but combined difficulty in both phases of stair climbing had a stronger association with activity limitations than difficulty in any one phase alone.
112 citations