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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.


Papers
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Proceedings ArticleDOI
01 Oct 2017
TL;DR: An algorithm for autonomous stair recognition and climbing for tracked robot, which is based on depth data provided by Kinect v2 depth sensor is presented, which can solve the practical problems encountered in the application of indoor tracked robot.
Abstract: The problem of autonomous stair climbing has severely restricted the application of mobile robot indoor environment We present an algorithm for autonomous stair recognition and climbing for tracked robot, which is based on depth data provided by Kinect v2 depth sensor The control algorithm is composed of five sub modules, which are to explore the stairs, locate the stairs, calculate tilt angle of the stairs, climb the stairs, and land Staircase model is a parallel line with a certain depth difference The entire control algorithm has only two inputs: the distance D of the tracked robot relative to the stairs and the angle θ relative to the stairs The two inputs are used to make the tracked robot in different sub modules Experimental results have verified that the algorithm can solve the practical problems encountered in the application of indoor tracked robot

5 citations

Journal ArticleDOI
Ahmed Aia, Cheng H, Lin X, Omer M, Atieno Jm 
28 Oct 2016
TL;DR: The experimental results show that the proposed gait transition control strategy can minimize the interaction dynamics with less interaction force between the pilot and the exoskeleton compared to the traditional admittance controller.
Abstract: Online gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent navigation. Admittance Controller performs well on flat terrain walking in human-powered exoskeleton systems for acceleration and slowdown. We are the first who proposed Variable Admittance Controller (VAC) for smooth stair climbing control in Human-Powered Exoskeleton Systems. Trajectory correction technique transforms the interaction forces exerted on the exoskeleton from the pilot to appropriate intended joint flexion angles through dynamic viscoelastic models. We demonstrate the proposed control strategy on one degree-of-freedom (1-DOF) platform first, and then extend to the Human power Augmentation Lower Exoskeleton (HUALEX). The experimental results show that the proposed gait transition control strategy can minimize the interaction dynamics with less interaction force between the pilot and the exoskeleton compared to the traditional admittance controller. Compared to Ordinary Admittance Controller, the proposed VAC significantly improve the normalized Mean Squared Error (nMSE) of trajectory tracking from 2.751° to1.105°.

5 citations

Journal Article
TL;DR: Considering some drawbacks due to lack of implementation of all techniques during manufacturing phase the test and trial run showed considerably significant and encouraging results that might help the future researchers to incorporate a gear box and steering mechanism to make the vehicle more versatile.
Abstract: This topic deals with the designing and manufacturing of a hand truck, which can climb stair with less effort compare to carry it manually. The technical issues in designing of this vehicle are the stability and speed of the vehicle while climbing stairs. However, the steepness of the stairs is also the important concern of this study. The uses of this special vehicle are in the frequent lift of goods such as books for library, medicines for hospital, regular goods of any technical or non technical institutes, or transportation any toxic material for industries and give freedom to the retarded person or paralyzed patients to move anywhere over flat surface as well as stairs. The vehicle has four wheels arrangement to support its weight when it moves over the flat surface. Each set wheel frame consists of three wheels attached with nut and bolt. Using of this vehicle, the labor cost can be reduced as well as huge amount of loads can be transferred uniformly with less power consumption. Moreover, considering some drawbacks due to lack of implementation of all techniques during manufacturing phase the test and trial run showed considerably significant and encouraging results that might help the future researchers to incorporate a gear box and steering mechanism to make the vehicle more versatile.

5 citations

Patent
06 Apr 2018
TL;DR: In this paper, an electric wheelchair for stair climbing is described, where the track wheel mechanisms are more mature compared with planet wheel mechanisms, and the gravity center fluctuation of the electric wheelchair is small, and then moving is stable.
Abstract: The invention discloses an electric wheelchair for stair climbing. The electric wheelchair for stair climbing comprises a wheelchair body, track mechanisms are arranged at the bottom of the wheelchairbody, a plurality of bearing frames are installed between the track mechanisms, a plurality of connecting pieces are arranged on the bearing frames, second driving mechanisms are installed at one ends of the bearing frames, an electric pushing mechanism is installed at the tops of the bearing frames, a base plate is installed at the top of the electric pushing mechanism, a backrest is arranged atone end of the base plate, handrails are installed on the backrest, a hand pushing rod is arranged at one end of the backrest, controllers are installed at one ends of the handrails, a headrest is installed at the top of the backrest, and a storage battery and a tilt angle sensor are installed at the bottom of the base plate. The electric wheelchair for stair climbing is novel in structure and simple and convenient to operate, and track wheel mechanisms are more mature compared with planet wheel mechanisms, wherein in the moving process, gravity center fluctuation of the electric wheelchair for stair climbing is small, and then moving is stable, so that the purpose of travelling and stair climbing of a person who has difficulty in moving by lower limps is effectively achieved; the track wheelchair is high in adaptability, flexible and large in moving range, and has a practical value for the person with a low-limb disability.

5 citations

Journal ArticleDOI
TL;DR: In this paper, the shift of COP pathway and the plantar foot pressure among level walking and stairs and ramp climbing in young and elderly people was investigated and the results showed that COP pathway during stairs climbing was slightly shorter and trended to abduct at forefoot.
Abstract: The purpose of this study was to investigate the shift of COP pathway and the plantar foot pressure among level walking and stairs and ramp climbing in young and elderly people. Plantar foot pressure was measured by MatScan system(Tekscan, USA). Statistical analysis was used One-way ANOVA to know the characteristics of peak plantar pressure during walking with different the facilities. In young adults, COP pathway during stairs climbing was slightly shorten and trended to abduct at forefoot. COP pathway during ramp climbing was also shorten but trend to adduct at forefoot. Peak plantar pressure of 2-3 metatarsal head and heel during ramp climbing was more decreased than level walking. In elderly people, COP pathway during stairs climbing was more shorten and abducted than leve walking and COP pathway during ramp climbing was more unstable than level walking. Peak plantar pressure of first metatarsal head increased at stair climbing and decreased at ramp climbing. That of second metatarsal head and heel was more decreased at ramp climbing. Conclusionally, Peak plantar pressures of each foot region generally increased and more changed during ramp climbing.

5 citations


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