Stair climbing

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

High-grip Stair Climber with Powder-filled Belts

Abstract: It is desirable to have a mobile robot that can move and perform various tasks over irregular terrain. However, conventional systems are not reliable or sufficiently adaptable for practical application. A traditional method for climbing stairs is to use grouser-attached tires or tracks that can grip the edges of the stairs. However, with this method, usually only one grouser on each side of the vehicle grips the stairs because the spacing between the grousers does not necessarily coincide with the distance between the steps. In the present paper, a new stair-climbing crawler with high gripping force on the stairs is developed. Powder-filled blocks are attached to the face of the tracks so that the belt can change shape to match the edge of the steps. A large friction force is therefore obtained due to the soft deformation of the blocks at every point along the belt. The results from these stair-climbing experiments prove that the newly developed crawler with powder-filled belts is more reliable than other experimental crawlers when ascending and descending stairs. The current crawler, with powder-filled belts, can carry heavy loads. The maximum payload capacity is approximately 60 kg when ascending stairs at an angle of 30°. Furthermore, the proposed crawler can change direction when climbing stairs or obstacles, which improves the turning efficiency of the crawler.

Pacemaker with stair climbing discrimination

Abstract: A method of and apparatus for pacing a patient's heart at a pacing rate dependent on patient activity and posture particularly during stair climbing. A dual chamber, rate responsive pacemaker for pacing a patient's heart includes at least one DC accelerometer mounted in the pacemaker pulse generator for implantation such that the sensitive axis of the DC accelerometer is sensitive to the effects of gravity during forward lean of the patient characteristic of stair climbing posture. The DC and AC signal outputs of the accelerometer are processed to develop a tilt signal and an activity signal. A target rate control signal is derived from the activity signal dependent on the level of activity. A stair climbing rate is selected for controlling the physiologic pacing rate between a lower and an upper pacing rate in the presence of an activity signal indicative of a patient walking rate and a tilt signal value falling within a tilt window. The target rate control signal is used to control the pacing rate if the activity signal is indicative of faster patient movement, e.g. running, or if the tilt signal is outside the tilt window indicating that the patient is either upright or prone.

Functional outcome measures of patients following hemipelvectomy.

Abstract: Background:Major amputations are indicated for curative treatment of some tumors of the pelvis. Previous literature suggests that patients with a hemipelvectomy amputation are more efficient walking with crutches than using a prosthesis.Objectives:The purpose of this study was to evaluate whether modern prosthetic use after hemipelvectomy may be a viable option for patients than in the past.Study Design:Case control trial.Methods:We identified five patients who underwent hemipelvectomy amputation and fit with high-level prosthetic components. Patients were evaluated using a timed up and go, 5-m walk, 400-m walk, and stair climb tests to evaluate functional performance with a prosthesis and without. Short Form–36 scores were collected as well. These results were compared to matched controls.Results:There was a trend for faster locomotion using crutches over wearing a prosthesis in the timed up and go, and 5-m and 400-m walk; no difference was seen in stair climbing. Short Form–36 scores showed decreased ph...

Exercise testing after the Chiari pelvic osteotomy

Abstract: The work capacity of 26 women after a Chiari pelvic osteotomy for symptomatic unilateral subluxation of the hip was assessed using two simple exercise tests: the maximal walking speed during a 12-minute test and the time taken to climb stairs. A significant linear decline in walking speed occurred with increasing age, despite the operation, and only one patient over the age of 25 years was able to walk at a normal rate. Compared to the results in a control group of women of similar age the stair climbing time was increased in 54 per cent of the patients and showed a significant negative correlation with the maximal walking speed. Age-adjusted walking speed was closely associated with the degree of pain experienced but there was no relationship between observed function and conventional clinical assessment based on the range of movement and the radiographic appearances of the hip.

Adaptive compliance control of a multi‐legged stair‐climbing robot based on proprioceptive data

Abstract: Purpose – The purpose of this paper is to describe an innovative compliance control architecture for hybrid multi‐legged robots. The approach was verified on the hybrid legged‐wheeled robot ASGUARD, which was inspired by quadruped animals. The adaptive compliance controller allows the system to cope with a variety of stairs, very rough terrain, and is also able to move with high velocity on flat ground without changing the control parameters. Design/methodology/approach – The paper shows how this adaptivity results in a versatile controller for hybrid legged‐wheeled robots. For the locomotion control we use an adaptive model of motion pattern generators. The control approach takes into account the proprioceptive information of the torques, which are applied on the legs. The controller itself is embedded on a FPGA‐based, custom designed motor control board. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair‐climbing capabilities. Findings – The robot is well suited for disaster mitigation as well as for urban search and rescue missions, where it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get a better situation awareness for the rescue personnel, before they enter a possibly dangerous area. A rugged, waterproof and dust‐proof corpus and the ability to swim are additional features of the robot. Originality/value – Contrary to existing approaches, a pre‐defined walking pattern for stair‐climbing was not used, but an adaptive approach based only on internal sensor information. In contrast to many other walking pattern based robots, the direct proprioceptive feedback was used in order to modify the internal control loop, thus adapting the compliance of each leg on‐line.