Stair climbing

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

Activity Change-of-state Identification Using a Blackberry Smartphone

Abstract: A wearable mobility monitoring system (WMMS) could be a valuable device for rehabilitation decision-making. A proof-of-concept system is developed that uses the BlackBerry 9550 as a self-contained WMMS platform. An integrated tri-axial accelerometer, GPS, and timing data are processed to identify the mobility change-of-state (CoS) between standing, walking, sitting, lying, stair climbing, going up or down a ramp, riding an elevator, and riding in a car. Following feature extraction from the sensor data, a decision tree is used to distinguish the CoS. In the complete system, real-time CoS identification on the smartphone will trigger video capture for improved mobility context analysis. Preliminary evaluation involved collecting three trials from one subject while he completed a continuous circuit that incorporated all target mobility tasks. The average sensitivity is 89.7 % and the specificity is 99.5 % for walking-related activities. The sensitivity is 72.2 % for stair navigation and 33.3% for ramp recognition, since accelerations for a ramp gait are similar to those for a walking gait. These results provide insight into algorithms and features that can be used to recognize CoS in real-time.

Novel design of a wheelchair with stair climbing capabilities

Abstract: Stair climbing wheelchairs were created to help disabled people overcome one of the most common architectural barrier, stairs. Many types of devices have been developed using tracked, leg, leg-wheel and hybrid wheels to climb stairs but they are expensive, thus, out of the reach of the neediest. This paper presents a stair climbing wheelchair with four "X"-shaped wheel that uses its legs to climb and descend stairs. This mechanism maintains contact with the stair during climbing activity to perform better at the climbing task. The seat of the wheelchair provides 1 DOF so that the inclination angle can be changed in order to correct the position of the center of gravity to be close to the center of the supporting polygon. An inertial measurement unit (IMU) sensor was used to detect the angle of the seat in relation to the ground and by using a motor utilizing PID control, automatically balance the seat in the horizontal position. In order to climb stairs smoothly the angular position of the wheels should be the same, thus a PD control was implemented to control the position of the wheel so that they will be synchronized, therefore, capable of performing the climbing task at the same time and at the same position. Simulation and experimental results demonstrate the effectiveness of this mechanism and wheelchair.

The effects of stepper exercise with visual feedback on strength, walking, and stair climbing in individuals following stroke.

Abstract: [Purpose] This study investigated the effect of stepper exercise with visual feedback on strength, walking, and stair climbing in stroke patients. [Subjects] Twenty-six stroke patients were divided randomly into the stepper exercise with visual feedback group (n = 13) or the stepper exercise group (n = 13). [Methods] Subjects in the experimental group received feedback through the mirror during exercise, while those in the control group performed the exercise without visual feedback; both groups exercised for the 30 min thrice per week for 6 weeks. The hip extensor and knee extensor strength, 10-m walking test results, and 11-step stair climbing test results were evaluated before and after the intervention. [Results] The stepper exercise with visual feedback group showed significantly greater improvement for hip extensor strength and the 10-m walking test. The knee extensor strength and 11-step stair climbing in both groups showed significantly greater improvement after the intervention, but without any significant difference between groups. [Conclusion] The findings of this study indicate that the stepper exercise with visual feedback can help improve the strength of the hip extensor and the 10-m walking test; the stepper exercise alone may also improve the knee extensor strength and stair climbing ability.

All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method

Abstract: The invention provides an all-directional horizontal-posture stair climbing robot. The stair climbing robot comprises a lower table plate and an upper table plate above the lower table plate; at least two sets of lower table plate lifting mechanisms which drive the lower table plate to ascend and descend are arranged below the lower table plate; at least four sets of upper table plate lifting mechanisms which drive the upper table plate to ascend and descend are arranged below the upper table plate. The stair climbing robot is characterized in that the lower table plate and the upper table plate are arranged in a front-back and staggered manner in the horizontal direction; a support rotating plate is arranged between the lower table plate and the upper table plate; rectilinearly-moving units are arranged at the bottom of the support rotating plate; the bottoms of the rectilinearly-moving units are arranged on the lower table plate; a rotating mechanism is arranged on the upper table plate and fixedly connected with the support rotating plate. The invention further provides a posture adjusting method, a zero-radius turning method, a stair climbing method and a rectilinear walking method for the stair climbing robot. According to the invention, the deficiencies of the prior art are overcome; the stair climbing robot can adapt to various ground conditions, can flexibly realize no-radius turning of any angle, and is favorable in maneuverability, simple in structure and ingenious in design.