Stair climbing

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

Stair-walking performance in adolescents with intellectual disabilities

Abstract: Most individuals with intellectual disabilities (ID) demonstrate problems in learning and movement coordination. Consequently, they usually have difficulties in activities such as standing, walking, and stair climbing. To monitor the physical impairments of these children, regular gross motor evaluation is crucial. Straight-line level walking is the most frequently used test of their mobility. However, numerous studies have found that unless the children have multiple disabilities, no significant differences can be found between the children with ID and typically-developed children in this test. Stair climbing presents more challenges than level walking because it is associated with numerous physical factors, including lower extremity strength, cardiopulmonary endurance, vision, balance, and fear of falling. Limited ability in those factors is one of the most vital markers for children with ID. In this paper, we propose a sensor-based approach for measuring stair-walking performance, both upstairs and downstairs, for adolescents with ID. Particularly, we address the problem of sensor calibration to ensure measurement accuracy. In total, 62 participants aged 15 to 21 years, namely 32 typically-developed (TD) adolescents, 20 adolescents with ID, and 10 adolescents with multiple disabilities (MD), participated. The experimental results showed that stair-walking is more sensitive than straight-line level walking in capturing gait characteristics for adolescents with ID.

Straight Walking and Stair Climbing Gait of Quadruped Robot Based on Static Balance

Abstract: To improve obstacle climbing performance of the quadruped robot, stability margin is selected as the criterion of quadruped static balance, and quadrant boundary formed by touchdown points is taken as the stride possibility criterion in various initial conditions. All gaits are classified into 24 types by stride sequences. Based on the evaluation guidelines including minimal locomotion space demand, maximal stability margin, and best body adjustment coordination, contrast analyses on all 24 basic gaits are performed. Furthermore, a projection method combined with planar statically balanced gait theory is proposed to solve stair climbing gait problem, and systematic simulation of stair climbing gait is implemented to meet the 3 evaluation guidelines mentioned above. The simulation results provide theoretical foundation for selecting quadruped walking and stair climbing gaits. Experiments testify the validity of this method.

Pelvic movement strategies and leg extension power in patients with end-stage medial compartment knee osteoarthritis: a cross-sectional study.

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.

Robot Design for Stair Navigation

Abstract: Among the several designs of mobile robots, the wheel design is unfavorable for navigation of stairs or over obstacles. The leg design and the creeping design demand very intricate control systems and are not efficient on flat surfaces. The caterpillar design is unreliable and unstable in stair navigation. In the arm-wheel design, the sensor which discriminates between stairs and flat surfaces and the mechanism which alternates between wheel-running and arm-creeping modes are complicated. In this paper, a new type of arm-wheel design for a mobile robot enabling it to navigate stairs is developed, which requires no sensor for discrimination between stairs and flat surfaces of stairs and no mechanism for alternating between wheel-running and arm-creeping modes. Since no sensor is required, the reliability in an extreme environment is high. Moreover, since it has no intricate discrimination mechanism, it can also be applied to a wheelchair, for example, which is not powered. The author has confirmed through experiments using a stair-navigating robot prototype that the mechanism developed here functions as intended.

Evolution of Wheelchair.q, a Stair-climbing Wheelchair

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.