Topic
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 2009
TL;DR: In this article, the authors investigated the performance of hemiplegic patients in 180° turns before and after a training program which was effective in improving other functional tasks, considering the effect of the turning direction.
Abstract: Objective: To investigate the performance of hemiplegic patients in 180° turns before and after a training program which is effective in improving other functional tasks, considering the effect of the turning direction. Methods: Thirty chronic hemiplegics (17 men and 13 women; 56.36±10.86 years) participated in a training program (aerobic activities and muscular strengthening) and were evaluated before and after the intervention by means of the Step/Quick Turn (SQT; Balance Master ® ), which involves a 180° turn during gait. Gait velocity and stair climbing ability were also evaluated. Mixed repeated-measures ANOVA (2x2) was used to compare the turning direction (paretic and non-paretic) and the pre- and post-intervention evaluations. Paired t tests were used to investigate the impact of the training program on gait velocity and stair climbing ability (α=0.05). Results: No significant differences were found in any of the SQT variables when considering the turning direction (0.23
11 citations
TL;DR: In this paper, an analysis method to make the rocker bogie mechanism can climb up a stair is achieved, and the stair climbability graph (SCG) determined with the length and the height of a stair was drawn.
Abstract: An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.
11 citations
TL;DR: Overall the Genium knee decreased deficiency in gait patterns for stair ascent relative to the C-Leg, by enabling gact patterns that more closely resembled non-amputees.
11 citations
TL;DR: It is proved that the proposed intermittent controller successfully maintains the balance of the robot during movement and can simulate the human ascending stair behavior steadily and also supports the biped in DSP, SSP and impact phases very well.
11 citations