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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23 Aug 1999
TL;DR: In this paper, a self-propelled stairs moving unit A 1 moves on stairs, putting a manual wheelchair K on the pallet 7, by driving the front crawler traveling units 1a, 1b and the rear crawler travelling units 2a, 2b wherein right and left are unitedly connected with each other.
Abstract: The self-propelled stairs moving unit A 1 moves on
stairs, putting a manual wheelchair K on the pallet
7, by driving the front crawler traveling units 1a,
1b and the rear crawler traveling units 2a, 2b
wherein right and left are unitedly connected with
each other. When the stairs moving unit A 1 is
started to go up to the stairs from the flat face
of lower hand, the front crawler traveling unit la
relatively gently goes up. Then, the angle between
the pallet 7 to be held to be level with the
connecting shaft 6 which is rotation center of the
traveling unit 1a as its center of oscillation and
the line connecting both connecting portions of the
support frames 5a connecting the front and rear
crawler traveling units 1a, 2a (that is, the
self-propelled portion) is slowly changed. When
the stairs moving unit A 1 is transferred from the
upper end of the stairs to the flat face, the front
crawler traveling unit 1a goes over the connecting
point 6 of the support frame 5a which is the load
center, it is rotated to move in a moment with the
connecting shaft 6 as its center from the full line
position along the inclined face of the stairs to
the chain line position along the flat face, but the
pallet 7 is still held to be level with the
connecting shaft 6 as its oscillation center. Then,
the pallet can be held to be level on the transfer
part between the flat face and the stairs as well
as on the flat face and the inclined face of the
stairs, thereby no fear is given to the person on
a wheelchair on the pallet.
4 citations
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16 Jun 2014TL;DR: The presented stair climbing device (SCD) allows consideration of applications like stair-climbing wheelchairs and assistive robots as a wheeled double inverted pendulum which goes through different contact situations during the stair-Climbing.
Abstract: The presented stair climbing device (SCD) allows consideration of applications like stair-climbing wheelchairs and assistive robots. It can be considered as a wheeled double inverted pendulum which goes through different contact situations during the stair-climbing. The derived hybrid dynamic model covers the whole stair-climbing functionality. A model analysis is shown from the control point of view whereat the state transition “lift-off” is described in detail considering conditions and limits for successful transition. Presented simulation results give an insight into system properties. The “lift-off” simulation is compared with measurements of the real SCD prototype.
4 citations
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TL;DR: Potential kinematic and kinetic benefits of unicondylar knee arthroplasty over total knee ar Throplasty could not be proven in the current study.
Abstract: Due to the significant role of rotational properties for normal knee function, this study aimed to investigate transverse plane kinematics and kinetics in total knee arthroplasty and unicondylar knee arthroplasty patients during activities of daily living compared to a healthy control group, including stair ascent and descent. The study participants consisted of a total knee arthroplasty group including posterior cruciate retaining and posterior stabilized designs as well as a unicondylar knee arthroplasty group and a healthy control group. Three-dimensional kinematics and kinetics were captured using a Vicon system and two Kistler force plates embedded in the floor and another two in a staircase. Inverse dynamics of the lower limbs was computed in Anybody™ Modeling System. Transverse plane joint angles and joint moments were analyzed utilizing the statistical non-parametric mapping approach, considering the entire curve shape for statistical analysis. The patients with total knee arthroplasty exhibited significantly reduced knee internal rotation of the operated knee compared to the control group and the patients’ unimpaired limb, especially during the stair climbing tasks. Both unicondylar and total knee arthroplasty patients were found to have similar reduced internal rotation motion time series in stair descent. In conclusion, potential kinematic and kinetic benefits of unicondylar knee arthroplasty over total knee arthroplasty could not be proven in the current study. Aside from the usually mentioned reasons inducing constrained knee internal rotation in total knee arthroplasty patients, future studies should investigate to what extent co-contraction may contribute to this functional impairment in patients after knee arthroplasty surgery.
4 citations
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27 Oct 2011
TL;DR: In this paper, a power-assisted luggage cart that is capable of climbing stairs using actuated rotational arms with unactuated wheels at the ends of the arms is proposed.
Abstract: Power-assisted luggage carts that are capable of climbing stairs using actuated rotational arms with unactuated wheels at the ends of the arms are proposed. A unified optimum design, including the number of arms, is analyzed and discussed from the perspective of motion smoothness and assist capability. With the appropriate selection of the number of arms and dimensional design of the arm length and wheel radius, the motion fluctuation can be reduced to less than 40 mm on stairs with normal going and riser dimensions. It was found that the mechanical work by the operator could be reduced to one fourth using the proposed mechanism with rotating arms by an actuator.
4 citations
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TL;DR: In this article, an autonomous stair climbing procedure with multisensor feedback is performed by the six-legged robot Messor, which is able to climb stairs of different sizes, and thanks to the sensory feedback copes well with the imperfectness of the environment.
4 citations