Stair climbing

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

Suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center

Abstract: A suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center comprises three parts: a travelling part consisting of pieces such as a frame, a front wheel, a rear wheel, a crawler belt and a crawler belt forward-falling preventing device; a gravitational equilibrium part consisting of pieces such as a suspending hanging bracket, a sliding sleeve and a battery and self weight of a person; and a seat moving part consisting of pieces such as a sliding seat, a sliding bar and a connection rod The suspension-type gravitational-equilibrium stair climbing vehicle with movable gravity center has the advantages that in the processes of facing the front to go upstairs and go downstairs, the suspending hanging bracket is mounted in a center hole of the frame, and gravity is utilized to equilibrate An angle formed in the processes of going upstairs and going downstairs is utilized to pull an eccentric shaft on the frame, the eccentric shaft is connected with one end of the connection rod, the other end of the connection rod pulls the seat on the sliding bar, and the gravity center is moved forwards in the process of going upstairs and is moved backwards in the process of going downstairs to keep the gravity center of the seat being at the center of the vehicle The suspension type stair climbing vehicle is simple in structure, low in cost, small in turning radius and capable of being controlled via remote control and programs and rotating by 360 degrees in situ By the aid of the suspension type stair climbing vehicle, the problem that part of riders need companies is solved, and a company can go together by means of operating on an auxiliary seat In addition, a vehicular basket can carry goods

The effects of gait time and trunk acceleration ratio during stair climbing in old-old adult females

Abstract: [Purpose] This study investigated the effects of gait time and trunk acceleration ratio in old-old adult females during stair climbing. [Subjects and Methods] Twenty-five older adult females who were able to walk independently volunteered for this study and were categorized into two age groups (older adults or old-old adults). Gait time and trunk acceleration ratio were measured using an accelerometer during stair climbing. [Results] Gait time and trunk acceleration ratio when climbing stairs were significantly higher in the old-old age group than in the older adults group. [Conclusions] These findings suggest that old-old females have decreased upper trunk control. In addition, gait time and the trunk acceleration ratio during stair climbing are useful clinical markers for predicting function and balance control ability in old-old elderly populations.

Characteristics of a Lower Limb Exoskeleton for Gait and Stair Climbing Therapies

Abstract: The first exoskeleton development in Peru was performed at Pontificia Universidad Catolica del Peru (PUCP), supported by health professionals, with the aim of treating locomotion disability which is the second main limitation affecting Peruvians these days. It is a lower limb exoskeleton for assisting normal gait and stair climbing in the sagittal plane whose dynamic model was obtained from data collected from over 40 Peruvian young adults. The proposed mechanical design is a hip-knee-ankle device that is electrically actuated and which also allows for passive rotation of hip and ankle in the frontal plane. Additionally, the system includes a trolley and a telescopic guide which allow for horizontal and vertical movement of patient’s center of mass; therefore, these parameters can also be controlled in order to obtain customized therapies. Currently, a simplified model of this design is being implemented in order to verify exoskeleton proper behavior and its response to control system commands.

Design of A Wheel-Legged Stair Climbing Robot

Abstract: This paper presents a wheel-legged robot capable of overcoming steps and climbing stairs with six linear actuators as legs. With its control algorithm, this design can conquer irregular stairs with high operation stability. We built our physical prototype and developed the climbing procedures for a single stair and multiple stairs. Experiment results showed the feasibility of our mechanical design and the effectiveness of its climbing algorithms. The leg-wheel platform design and climbing algorithms show the potential application in various areas include service robots, goods transportation, and wheelchairs.