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 new prosthetic leg design, adapted to elderly trans-femoral amputees, designed to fulfill the specific requirements of this population in terms of capabilities, transfer assistance, security, intuitiveness, simplicity of use, and types of physical activity to be performed is introduced.
Abstract: We introduce a new prosthetic leg design, adapted to elderly trans-femoral amputees. Technical progress in prosthesis design mainly concerns active individuals. An important number of elderly amputees are not very mobile, tire easily, present reduced muscle strength, and have difficulties managing their balance. Therefore, the needs and characteristics of this specific population are very different from those of younger ones and the prosthetic solutions are not adapted. Our artificial knee has been designed to fulfill the specific requirements of this population in terms of capabilities, transfer assistance, security, intuitiveness, simplicity of use, and types of physical activity to be performed. We particularly focused our efforts on ensuring safe and secure stand-to-sit transfers. We developed an approach to control the different states of the prosthetic joint blocked, free, resistant, associated with different physical activities. Amputee posture and motion are observed through a single multi-axis force sensor embedded in the prosthesis. The patient behaves naturally, while the controller analyses his movements in order to detect his intention to sit down. The detection algorithm is based on a reference pattern, calibrated individually, to which the sensor data are compared, and submitted to a set of tests allowing the discrimination of the intention to sit down from other activities. Preliminary validation of the system has been performed in order to verify the applicability of the prosthesis to different tasks: walking, standing, sitting down, standing up, picking up an object from a chair, slope and stair climbing.
3 citations
TL;DR: Investigating the effects of motivational signage on stair usage in a predominantly Hispanic serving institution found it can effectively encourage more stair usage, and hence promote healthy behavior in a majority Hispanic-serving institution.
Abstract: Objective: Stair climbing is considered a good physical activity. Motivational signage has been successful in promoting stair usage in various settings. This study was to investigate the ef...
3 citations
24 Apr 2017
TL;DR: In this article, a wheel-based robot with a novel structure called Tusk, passive and protruded elements in the front part of the robot, which can create an angle-of-attack when it climbs stairs is presented.
Abstract: In this paper, we present ‘Tuskbot’, a wheel-based robot with a novel structure called ‘Tusk’, passive and protruded elements in the front part of the robot, which can create an angle-of-attack when it climbs stairs. The robot can easily overcome stairs with the help of Tusk, which does not require additional active mechanisms. We formulated a simplified mathematical model of the structure based on the geometrical relationship between the wheels and the stairs in each phase during the stair-climb. To test the model and Tusk structure, we calculated the length of each link and the angle of Tusk from the dimension of stair and radius of wheels, and built the robot accordingly. The results demonstrate the validity of the model and the structure.
3 citations
TL;DR: In this paper , several tail mechanisms were proposed and designed to solve the limitations of tri-wheel-based stair-climbing robots and a comparative analysis of the tail mechanisms was performed through dynamic simulations based on various performance indices.
Abstract: Abstract Stair climbing is one of the most important capabilities of mobile robots. Therefore, stair-climbing mobile robots have become a field of study and diverse stair-climbing mobile robots have been developed. Although tri-wheel-based stair-climbing robotic platforms were developed to overcome the challenges posed by stair climbing, they have shown limitations such as impact during locomotion and damage owing to friction with the nosing of the stairs. In this study, several tail mechanisms were proposed and designed to solve the limitations of tri-wheel-based stair-climbing robots. A comparative analysis of the tail mechanisms was performed through dynamic simulations based on various performance indices. It was observed that the tail mechanism improved the stability and stair-climbing performance of the tri-wheel-based stair-climbing robots. The experimental verification confirmed the reliability of the comparative analysis results based on the simulation. These findings can be used to design mobile stair-climbing robots.
3 citations
3 citations