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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08 Jul 2009
TL;DR: In this article, a wheelchair for the disabled can climb stairs forwards and backwards by adjusting a small adjusting device on the chair frame, such that a small guiding wheel moves, the height of the wheelchair frame lowers, and the pedrail of the stair climbing device is contacted with the ground.
Abstract: The utility model belongs to a wheelchair for the disabled, which can climb stairs forwards and backwards. The wheelchair comprises a chair frame, an adjusting device which is arranged on the chair frame, a large road wheel, chain wheels, a chain, a stair climbing device and locking devices. The chair frame can rotate around a pin shaft II and then a pin shaft I in the vertical plane by adjusting the adjustment device, so that a small guiding wheel moves, the height of the chair frame lowers, and the pedrail of the stair climbing device is contacted with the ground. The large road wheel is rotated to drive the coaxially arranged large chain wheel to rotate and drive the small chain wheel to rotate through the chain; a pedrail wheel coaxially connected with the small chain wheel is driven to drive the pedrail to rotate, and the pedrail and the large road wheel produce driving force to drive the wheelchair to contact the step surface, so that the wheelchair can climb up the stairs forwards and backwards; and ratchet wheels and the locking devices formed by locking pins are arranged in the front pedrail wheel and the back pedrail wheel to play a braking role for the going forward and turning back of the wheelchair in order to prevent the wheelchair from sliding down along the step surfaces. The utility model can also be used as a general wheelchair.
5 citations
TL;DR: Investigation of the effectiveness of stair climbing as a rehabilitation intervention for THR and TKR patients found it was not possible to determine the impact of stair negotiation exercise on the positive outcomes of interventions.
5 citations
01 Jan 2013
TL;DR: In this paper, a wheeled double inverted pendulum was built to serve as a stair-climbing device (SCD) and the overall SCD model was represented by a hybrid automaton.
Abstract: Abstract The described wheeled double inverted pendulum was built to serve as a stair-climbing device (SCD). It can negotiate steps autonomously. The overall SCD model is represented by a hybrid automaton. It consists of nonlinear situation-changing continuous-time properties. Depending on the situation, the SCD is either fully actuated or under-actuated. Furthermore, discontinuous phenomena exist due to wheel-to-ground unilateral constraints. Feedback linearization is used as a basis for the control design. Due to a different situation-changing relative degree a full-state linearization or a partial linearization is applied. The state transition “settling” is developed within the virtual constraints framework.
5 citations
17 Oct 2008
TL;DR: Experimental results with carrying a person validate the feasibility of the proposed mechanism design and show the simplification of the associated operation process of a new stair-climbing robotic wheelchair for the disable and elderly.
Abstract: This paper reports an enhanced mechanical design and stability analysis of a new stair-climbing robotic wheelchair for the disable and elderly. The mechanism is based on a pair of rotational multi-limbed structures pivotally mounted on the opposite sides of the base. The corresponding short arm, long arm and support triangle comprising each rotational multi-limbed structure are actuated to rotate through epicyclic gear trains so that the robotic wheelchair can ascend and descend stairs in a statically stable way. Experimental results with carrying a person validate the feasibility of the proposed mechanism design and show the simplification of the associated operation process.
5 citations