[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 ...

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...

BACKGROUND Low back pain (LBP) is a common problem that can contribute to motor dysfunction. Previous studies reporting the changes in kinematic characteristics caused by LBP present conflicting results. This study aimed to apply the multisegmental spinal model to investigate the kinematic changes in patients with lumbar disc herniation (LDH) during five activities of daily living (ADLs). MET...

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...

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...

This study proposes an obstacle detection method based on depth information to aid the visually impaired people in avoiding obstacles as they move in an unfamiliar environment. Firstly, we have applied dilation of morphology and erosion of morphology to remove the crushing noise of the depth image and have used the Least Squares Method (LSM) in a quadratic polynomial to approximate floor curves...

BACKGROUND AND PURPOSE Improved walking is a common goal after stroke. The purpose of this study was to examine the relationship between the torque generated by the muscles of both lower extremities and 2 locomotor tasks: gait on level surfaces and stair climbing in people who had strokes. SUBJECTS Twenty community-dwelling individuals (mean age=61.2 years, SD=8.4, range=52-82) who had stroke...