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: A novel design of a mixture of motors and cables has been proposed for users to wear them easily and show the application of the system in stair climbing, showing 28 per cent reduction in energy consumption of related muscles.
Abstract: This paper aims to deal with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending.,For this purpose, a novel design of a mixture of motors and cables has been proposed for users to wear them easily and show the application of the system in stair climbing.,One of the prominences of this study is the provided robot design where four joints are actuated with only two motors; each motor actuates either the knees or ankles. Another advantage of the designed system is that with motors placed in a backpack, the knee braces can be worn under clothes to be concealed. Finally, the system performance is evaluated using electromyography (EMG) signals showing 28 per cent reduction in energy consumption of related muscles.,This investigation deals with the development of a novel lower limb exoskeleton to assist disabled people in stair ascending.
8 citations
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01 Jan 2007TL;DR: A fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance through the introduction of the haptic modality.
Abstract: Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments The ability to explore dangerous environments from the safety of a remote location represents an important progression towards the preservation of human safety in the inevitable response to such a threat While the benefits of removing physical human presence are clear, challenges associated with remote operation of a robotic system need to be addressed Removing direct human presence from the robot's operating environment introduces telepresence as an important consideration in achieving the desired objective The introduction of the haptic modality represents one approach towards improving operator performance subject to reduced telepresence When operating in an urban environment, teleoperative stair climbing is not an uncommon scenario This work investigates the operation of an articulated track mobile robot designed for ascending stairs under teleoperative control In order to assist the teleoperator in improved navigational capabilities, a fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance
8 citations
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14 Jul 2009
TL;DR: In this article, a control algorithm for continuous high-speed stair climbing for an eight-legged stair-climbing vehicle, and a new leg mechanism to implement this control is discussed.
Abstract: This paper proposes a control algorithm for continuous high-speed stair climbing for an eight-legged stair-climbing vehicle, and discusses a new leg mechanism to implement this control. The control algorithm was first simulated to verify its effectiveness, and then implemented with a vehicle prototype, which continuously climbed a set of steps at constant speed under an applied load of 30 kg. A belt-drive mechanism with a long leg-stroke was developed, along with a mechanism to control the orientation of the passive wheels; both were experimentally verified. The success of these experiments indicates that the new control algorithm and leg mechanism are promising components for practical stair-climbing applications in the future.
8 citations
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TL;DR: 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.
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.
8 citations
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13 Jun 1985
TL;DR: In this paper, a wheel-chair chassis is adapted to suit the drive over the stairs by means of rear wheels which can be folded up in such a way that the centre of gravity with the driver is as close as possible to the stairs.
Abstract: In order to enable disabled wheel-chair drivers to overcome stairs without any help from outside even with a wheel-chair which can be transported in a car, the foldable wheel-chair can be equipped with a removable device for climbing stairs. In order to increase the safety the wheel-chair chassis is adapted to suit the drive over the stairs by means of rear wheels which can be folded up in such a way that the centre of gravity with the driver is as close as possible to the stairs. The suitable climbing devices with a divided-up tracklaying gear or linearly guided, rigid legs with rollers or articulated legs are preferably driven electrically, controlled electronically and fed by a lightweight battery.
8 citations