Stair climbing

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

Carrying cart capable of easily climbing stairs

Abstract: The utility model relates to a carrying cart capable of easily climbing stairs The carrying cart comprises an object box, rotary crawler belts respectively fastened on the left side and the right side of the object box and a pull rod connected with the object box, wherein the crawler belts are engaged with at least four wheels evenly distributed in the crawler belts and rotating driven by the crawler belts; radius of two wheels on the front end and the back end of each crawler belt are the half of the radius of the rest wheels; the four wheels and the crawler belt are in a shape of an inverted trapezoid; two bearing rods are fixedly connected under the object box; and two ends of each bearing rod are respectively in a roller connection with a center of the two wheels on the middle of the crawler belts on two sides During stair climbing, a heavy object is placed in the object box and then the pull rod is pulled, so the heave object can be easily pulled up the stairs based on a slope-effort saving principle

Cart for stair climbing and walking on ground

Abstract: The utility model belongs to a hand-operated vehicle, especially a double-purpose cart for climbing stairs and flat ground which is suitable for building residents to convey heavy things and personnel movably A driving wheel is a planet wheel, and a cart frame is a thing carrying frame and a sitting frame The driving wheel can be matched and connected with the cart frame as a whole by a fixed member The utility model is not only suitable for carrying the heavy things, but also suitable for carrying the personnel The utility model is particularly suitable for carrying goods and the personnel in a short distance by building residents in daily life, and other government offices, schools and enterprises The utility model is a double-purpose cart for climbing the stairs and the flat ground with wide application

Analysis for the foot board lower limb rehabilitation robot

Abstract: Currently the lower limb rehabilitation robot research focuses on the exoskeleton robot, however, the effect of rehabilitation training of the exoskeleton rehabilitation robot for ankle is not satisfactory. Based on the research of the lower limb rehabilitation robot, this paper puts forward a new type of foot board rehabilitation robot, which is composed of two horizontal movement mechanisms and two five-bar mechanisms. The horizontal movement mechanism and five-bar mechanism coordinate their work, so the robot can achieve multiple modes of rehabilitation training, such as: ground walking training, stair climbing training, stair downing training and slope climbing training. In order to testify that this robot can carry out such rehabilitation training, there is a need to know that the trajectory of the robot under rehabilitation training is just like the trajectory of normal people. Due to the length limitation, this paper only simulates the mode of ground walking. Firstly, we use NDI OPTOTRAK and treadmill to measure the walking gait trajectory and angle of ankle for this robot, extracting a single cycle data from gait trajectory and then fitting the data with polynomial and sine function using MATLAB. Secondly, the kinematics analysis of the robot has been done, and the fitting data are used for the kinematics analysis of human walking. Finally, a robot kinematics model is set in MATLAB /SIMULINK module and is simulated. The results of simulation provide a reliable basis for the design of control system and the manufacture of physical prototype.

Energy costs and leg muscle activities in ascending stairs

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Development of Compact Self-Balancing Robot with Self-Standing and Stair-Climbing Capability

Abstract: Self-balancing robots can turn on the spot using differential steering with better efficiency than tracked or four-wheel drive robots, and they can be many times their width in height. However they have two major limitations: they cannot stand-up on their own and cannot climb stairs. In this paper, a novel design is proposed to address these issues. A single degree of freedom is added to the center of a four-wheel drive robot. This arm allows the robot to climb stairs and stand-up on its own. A model and simulation of the balancing and the stair-climbing process are derived and the stair-climbing is compared against experimental results with a prototype. It was shown that the model closely follows the trend of the experimental results and provides a basis for future studies on the concept.