Stair climbing

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

Wheel diameter-adjustable mechanism suitable for electric wheelchair

Abstract: The invention aims to provide a stair climbing actuating mechanism capable of changing the wheel diameter according to stairs with different length-to-height ratios. The stair climbing actuating mechanism is composed of a wheel carrier and three planetary gears. The basic principle for adjusting the wheel diameter is that a nut is forced to move forward or backward so as to push a support rod (which is connected with the wheel carrier and the nut simultaneously) to move up or down, and then the wheel diameter is changed by using the relative movement of a sliding block and a sliding chute to adapt to the stairs with different length-to-height ratios, by using the screw rotation according to the principle of constant relative movement. A worm gear motor module is mounted on each planetary gear, so that the worm gear motor modules can provide power for the planetary gears, the planetary gears not only can realize flat-road advancing, but also can assist the stair climbing; a worm gear motor has a self-locking function and stops rotating when coming downstairs to reduce the dangers during coming downstairs by means of sliding friction. The wheel diameter-adjustable mechanism based on screw nut transmission has the characteristics of being reasonable in structural layout, compact in design, simple and efficient to control, high in precision and strong in adaptability, is suitable for the promotion and application on modern novel intelligent stair climbing wheelchairs, and has wide application prospects.

Stair climbing robot

Abstract: The invention provides a stair climbing robot. The stair climbing robot comprises a central air pump, wherein a rotating shaft of the central air pump drives a central gear; more than three rollers are uniformly distributed in the circumferential direction of the central gear, axles of the rollers are fixed relative to the circumferential position of the central air pump and are meshed with the central gear through planetary gears; radial air channels are uniformly distributed in each roller in the circumferential direction, inner ends of the radial air channels are communicated with hollow insides of the axles of the rollers, and outer ends penetrate the periphery of the rollers; an air inlet of the central air pump is communicated to the hollow insides of the axles of the rollers. The robot adopts a driving structure with good symmetry, is stable and reliable in driving, applicable to various complicated terrains and stairs and has powerful climbing and obstacle surmounting capacity.

Design and Research of Gait Recognition Method of Upper Knee Prosthesis Based on KNN Algorithm

Abstract: Due to the influence of diseases, accidents and other factors, the number of thigh amputations is increasing year by year, and the demand for intelligent and diversified artificial limbs is also increasing. Aiming at the poor accuracy of gait recognition of prosthesis, this paper takes the upper part of the knee of healthy people as the main research object, collects acceleration signal and gyroscope signal, and performs wavelet packet denoising on them. KNN algorithm was used to construct the classification model for the collected examples to be classified. Three typical gait, stationary, flat walking and stair climbing were selected, and k nearest neighbor samples of unknown samples were studied to predict the category of unknown samples, namely the gait of healthy people. It provides an accurate gait recognition condition for the research of dynamic prosthesis.

Criterion-related validity of self-reported stair climbing in older adults.

Abstract: Stair climbing is an activity of daily living that might contribute to increase levels of physical activity (PA). To date, there is no study examining the validity of climbing stairs assessed by self-report. The aim of this study was, therefore, to examine the validity of estimated stair climbing from one question included in a common questionnaire compared to a pattern-recognition activity monitor in older adults. A total of 138 older adults (94 women), aged 65–86 years (70.9 ± 4.7 years), from the IMPACT65 + study participated in this validity study. Estimates of stair climbing were obtained from the European Prospective Investigation into Cancer and Nutrition (EPIC) PA questionnaire. An objective assessment of stair climbing was obtained with the Intelligent Device for Energy Expenditure and Activity (IDEEA) monitor. The correlation between both methods to assess stair climbing was fair (ρ = 0.22, p = 0.008 for PA energy expenditure and ρ = 0.26, p = 0.002 for duration). Mean differences between self-report and the IDEEA were 7.96 ± 10.52 vs. 9.88 ± 3.32 METs-min/day for PA energy expenditure, and 0.99 ± 1.32 vs. 1.79 ± 2.02 min/day for duration (both Wilcoxon test p < 0.001). Results from the Bland–Altman analysis indicate that bias between both instruments were −1.91 ± 10.30 METs-min/day and −0.80 ± 1.99 min/day, and corresponding limits of agreement for the two instruments were from 18.27 to −22.10 METs-min/day and from 3.09 to −4.70 min/day, respectively. Our results indicate that self-reported stair climbing has modest validity to accurately rank old age participants, and underestimates both PAEE and its duration, as compared with an objectively measured method.

Dynamics and control study of a stair-climbing walking aid robot

Abstract: This paper designs a multifunctional robot for stair climbing by the link mechanism and stair climbing mechanism. A virtual prototype has been developed in adams. By means of Roberson-Wittenburg method dynamic model has been established. Based on the dynamic model, the synchronization controller is designed, and the controller is proven to be asymptotic stability by Lyapunov function. The system parameters have been designed for the co-simulation in matlab and adams. The synchronization controller has been used in trajectory tracking simulation of virtual prototype. Result shows the effectiveness of the method.