[Purpose] The aim of this study was to determine the effect of stair task training on gait abilities by conducting stair task training. In this training, step training is applied in various directions with hemiplegia patients. [Subjects and Methods] Thirty-six patients with stroke were selected on the basis of inclusion and exclusion criteria, and they were randomly divided into eighteen patien...

Most motion planners solve problems defined in a 2D workspace for mobile robots or in a 3D workspace for fixed-based manipulators or free-flying objects. Human beings move on a smooth or stair-like 2D surface of a 3D workspace. Such a motion-planning problem differ from the general piano mover’s problem on that the definition of obstacle region not only depends on the local relative height but ...

In this paper motion analysis on a winding stair-climbing is investigated using our proposed rotational arm type of robotic wheelchair. For now, the robotic wheelchair is operated in an open mode to climb winding stairs by a dynamic turning, therefore, the dynamics model is required to ensure a passenger’s safety. Equations of motion based on the skid-steering analysis are developed for the tra...

In order to predict a pedestrian’s walking speed on stairs from his/her characteristics of and those of the stairs, the relationship between the walking speed of a pedestrian on stairs and his/her characteristics, and the relationship between the pedestrians’ walking speeds on stairs and the stair-gradients were investigated. It is suggested that Leg Extensor Power shows a strong correlation to...

The number of elderly people is drastically increasing. To support them, the gait information is under the spotlight since it has the relationship between the fall risk and dementia. Among other scenarios, a relatively higher level of ability is needed for the stair walking as it requires balancing and loading. Conventionally, 3D motion capture devices have been used to acquire the param‐ eters...

Small, tracked mobile robots designed for general urban mobility have been developed for the purpose of reconnaissance and/or search and rescue missions in buildings and cities. Autonomous stair climbing is a significant capability required for many of these missions. In this paper we present the design and implementation of a new set of estimation and control algorithms that increase the speed...

The purpose of this study was to examine the concurrent validity of the Personal Activity Monitor (PAM) accelerometer relative to the Actigraph accelerometer using oxygen consumption as a reference, and to assess the test-retest reliability of the PAM. Thirty-two fit, normal weight adults (aged 21-54) performed two activities, treadmill walking and stair walking, while wearing the PAM, the Acti...

Understanding joint kinetics during activities of daily living furthers our understanding of the factors involved in joint pathology and the effects of treatment. In this study, we examined hip and knee joint kinetics during stair climbing in 35 young healthy subjects using a subject-specific knee model to estimate bone-on-bone tibiofemoral and patello-femoral joint contact forces. The net knee...

Stairway climbing provides a ubiquitous and inconspicuous method of burning calories. While typically two strategies are employed for climbing stairs, climbing one stair step per stride or two steps per stride, research to date has not clarified if there are any differences in energy expenditure between them. Fourteen participants took part in two stair climbing trials whereby measures of heart...

OBJECTIVES Stair climbing (SC) as daily activity is assessed with different SC-tests, but none directly measures ground reaction force over several steps. The Leonardo Mechanograph Stair A has five steps and four force sensors. This study aimed at investigating the reliability of the Stair A test for force, power and time to SC. METHODS 55 healthy participants (age: 48±14 years) were five tim...