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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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01 Jan 2010
TL;DR: The G-EO-Systems is an interesting new option in gait rehabilitation after stroke because the lower limb muscle activation patterns were comparable, a training thus feasible, and the positive case report warrants further clinical studies.
Abstract: Background: Stair climbing up and down is an essential part of everyday's mobility. To enable wheelchair-dependent patients the repetitive practice of this task, a novel gait robot, G-EO-Systems (EO, Lat: I walk), based on the end-effector principle, has been designed. The trajectories of the foot plates are freely programmable enabling not only the practice of simulated floor walking but also stair climbing up and down. The article intended to compare lower limb muscle activation patterns of hemiparetic subjects during real floor walking and stairs climbing up, and during the corresponding simulated conditions on the machine, and secondly to demonstrate gait improvement on single case after training on the machine. Methods: The muscle activation pattern of seven lower limb muscles of six hemiparetic patients during free and simulated walking on the floor and stair climbing was measured via dynamic electromyography. A non-ambulatory, sub-acute stroke patient additionally trained on the G-EO-Systems every workday for five weeks. Results: The muscle activation patterns were comparable during the real and simulated conditions, both on the floor and during stair climbing up. Minor differences, concerning the real and simulated floor walking conditions, were a delayed (prolonged) onset (duration) of the thigh muscle activation on the machine across all subjects. Concerning stair climbing conditions, the shank muscle activation was more phasic and timely correct in selected patients on the device. The severely affected subject regained walking and stair climbing ability. Conclusions: The G-EO-Systems is an interesting new option in gait rehabilitation after stroke. The lower limb muscle activation patterns were comparable, a training thus feasible, and the positive case report warrants further clinical studies.

159 citations

Journal ArticleDOI
TL;DR: Pain, the main determinant of success, was not affected by range of motion unless there was a flexion contracture when there was not a significant effect (P less than .05).
Abstract: Five hundred fifty posterior cruciate condylar total knee replacements rated on the Hospital for Special Surgery knee rating scale were evaluated to determine whether postoperative range of motion had any detrimental effects on the total score. The amount of flexion significantly influenced the total score (P less than .0003), the stair climbing score (P less than .004), and the walking ability score (P less than .02). Pain, the main determinant of success, was not affected by range of motion unless there was a flexion contracture when there was a significant effect (P less than .05).

156 citations

Proceedings ArticleDOI
16 May 1998
TL;DR: Simulations show successful walking, stair climbing and running, and demonstrates experimentally that the first prototype SCOUT-1 is capable of walking, turning, and climbing over a step, despite its mechanical simplicity.
Abstract: A simple mechanical design for quadrupedal locomotion, termed SCOUT, is proposed, featuring only one degree of freedom per leg. The paper demonstrates experimentally that our first prototype SCOUT-1 is capable of walking, turning, and climbing over a step, despite its mechanical simplicity. The underlying principle is dynamic operation, based on controlled momentum transfer. Simulations show successful walking, stair climbing and running.

152 citations

Journal ArticleDOI
TL;DR: Fourteen patients with a posterior-stabilized prosthesis in one knee and a posterior cruciate-retaining prostheses in the contralateral knee and both scoring good or excellent on the HSS knee scale were evaluated by isokinetic muscle testing and comprehensive gait analysis.
Abstract: Fourteen patients with a posterior-stabilized prosthesis in one knee and a posterior cruciate-retaining prosthesis in the contralateral knee and both scoring good or excellent on the Hospital for Special Surgery (HSS) knee scale were evaluated by isokinetic muscle testing and comprehensive gait analysis at a mean follow-up of 98 months after arthroplasty. The average HSS knee score (93 points) and the average Knee Society score (94 points) were the same for the cruciate-retaining and posterior-stabilized knees. No differences were noted between the cruciate-retaining and the posterior stabilized knees with respect to isokinetic muscle testing parameters (peak torque, endurance, angle of peak torque, and torque acceleration energy) for both quadriceps and hamstrings. No significant differences were found between the cruciate-retaining and the posterior-stabilized knees with regard to gait parameters, knee range of motion, and electromyographic waveforms during level walking and stair climbing. Cruciate-retaining and posterior-stabilized total knee prostheses perform equally well during level gait and stair climbing.

147 citations

Proceedings ArticleDOI
10 Dec 2007
TL;DR: A robust model-based three-dimensional tracking system by programmable graphics hardware to operate online at frame-rate during locomotion of a humanoid robot and recovers the full 6 degree-of- freedom pose of viewable objects relative to the robot.
Abstract: For humanoid robots to fully realize their biped potential in a three-dimensional world and step over, around or onto obstacles such as stairs, appropriate and efficient approaches to execution, planning and perception are required. To this end, we have accelerated a robust model-based three-dimensional tracking system by programmable graphics hardware to operate online at frame-rate during locomotion of a humanoid robot. The tracker recovers the full 6 degree-of- freedom pose of viewable objects relative to the robot. Leveraging the computational resources of the GPU for perception has enabled us to increase our tracker's robustness to the significant camera displacement and camera shake typically encountered during humanoid navigation. We have combined our approach with a footstep planner and a controller capable of adaptively adjusting the height of swing leg trajectories. The resulting integrated perception-planning-action system has allowed an HRP-2 humanoid robot to successfully and rapidly localize, approach and climb stairs, as well as to avoid obstacles during walking.

138 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202344
2022121
202165
202090
2019129
201896