Stair climbing

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

Study on ability of a mobile tracked robot for stair-climbing based on static analysis

Abstract: In this paper, we consider the accurate ability and the exact limitation of Mobile Tracked Robot (MTR) for stair-climbing. A model of a stair-climbing robot is presented under static analysis, and then several separated situation during the process of robot climbing is extracted and analyzed respectively. The numerical formula of steady climbing a stair for MTR is developed. An effective stability index of climbing stair is derived to restrict the overrun of the threshold and to prevent the tip-over with over slippage while climbing. The experiment demonstrates the trustworthy and correction of the conclusion in the paper.

Wheel-track-combined stair climbing wheel

Abstract: The invention provides a wheel-track-combined stair climbing wheelThe wheel-track-combined stair climbing wheel comprises a wheel plate, rotating arms and supporting platesAn assembling hole is formed in the middle of the wheel plate; the rotating arms surround the wheel plate, and are arranged at intervals and fixedly connected with the wheel plate; the support plates are located between the adjacent rotating arms and fixedly connected with the wheel plate; main wheels are hinged to the tail ends of the rotating arms, crawler wheels are hinged to the middles of the rotating arms, pin holes are formed in the middles of the rotating arms, pin grooves capable of coaxially corresponding to the pin holes are formed in the side faces of the crawler wheels, and crawler belts are wound around the two adjacent crawler wheels and the supporting plates between the two adjacent crawler wheelsThe wheel-track-combined stair climbing wheel has the advantages that when a wheelchair is upstairs and downstairs, operation is stable, and operating force of an operator is reduced; the wheel-track-combined stair climbing wheel can be suitable for steps with the large size range

Knee Joint Kinematics and Kinetics during the Force Plates Attachable Interlaced Stairway Climbing (FPAIS) in Healthy Individuals

Abstract: Background: Two-stairway designs: force plate integrated stairway (FPIS) and force plates attachable interlaced stairway (FPAIS), have been used in gait laboratories in order to distinguish stair gait patterns between healthy and pathological groups and to assess the efficacy of different interventions for pathological groups especially with knee injuries. The previous studies evaluated the knee joint repeatability during stair climbing using FPIS design without evaluation the measurement error. Therefore, this study looked at the test and re-test repeatability of knee joint kinematics and kinetics in the sagittal; frontal; transverse planes during FPAIS stair climbing with measurement error calculation. Method: Ten healthy (32.1 ± 6.8 years, five male, and five female) participants performed walking tests on the three stairs in two different sessions within a week. Findings: The results showed high ICC’s for angles (ICC’s 0.83-0.99), and moments (ICC's 0.75-0.99). The SEM were up to 2.7° and 0.3 nm/kg and the RMSD were up to 4.1 ± 2.4° and 0.14 ± 0.10 nm/kg. Thus, reliability of the data showed moderate to excellent within healthy individuals. This result could provide an accurate baseline for pathological group in future studies which examines the orthotics impacts on knee joint kinematics and kinetics.