The purpose of this study was to find the best robot configuration for climbing and descending stairs, in addition to traveling on flat surfaces. Candidate robot types were analyzed to find the most suitable one for further study, based on stability, size, and energy consumption. Based on these considerations, the non-variable configuration tracked robot type was selected. The basic robot parameters (minimum track size, comparison of tracks with grousers vs. tracks without grousers, track angle of attack) were determined using static analysis methods and using North American standards for the stair geometry. Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. The final design was then simulated in Matlab to profile the device's velocity, acceleration, and power consumption during the stair climbing and descending phases. A prototype robot was constructed. The results of this study show that a non-variable tracked robot can be constructed for the purpose of climbing stairs by applying static and dynamic analysis techniques to optimize a design. This study provides the groundwork for this design, which can also serve as a basis for designing robots with other configurations.

The purpose of this study was to find the best robot configuration for climbing and descending stairs, in addition to traveling on flat surfaces. Candidate robot types were analyzed to find the most suitable one for further study, based on stability, size, and energy consumption. Based on these considerations, the non-variable configuration tracked robot type was selected. The basic robot parameters (minimum track size, comparison of tracks with grousers vs. tracks without grousers, track angle of attack) were determined using static analysis methods and using North American standards for the stair geometry. Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. The final design was then simulated in Matlab to profile the device's velocity, acceleration, and power consumption during the stair climbing and descending phases. A prototype robot was constructed. The results of this study show that a non-variable tracked robot can be constructed for the purpose of climbing stairs by applying static and dynamic analysis techniques to optimize a design. This study provides the groundwork for this design, which can also serve as a basis for designing robots with other configurations.

The purpose of this study was to find the best robot configuration for climbing and descending stairs, in addition to traveling on flat surfaces. Candidate robot types were analyzed to find the most suitable one for further study, based on stability, size, and energy consumption. Based on these considerations, the non-variable configuration tracked robot type was selected. The basic robot parameters (minimum track size, comparison of tracks with grousers vs. tracks without grousers, track angle of attack) were determined using static analysis methods and using North American standards for the stair geometry. Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. The final design was then simulated in Matlab to profile the device's velocity, acceleration, and power consumption during the stair climbing and descending phases. A prototype robot was constructed. The results of this study show that a non-variable tracked robot can be constructed for the purpose of climbing stairs by applying static and dynamic analysis techniques to optimize a design. This study provides the groundwork for this design, which can also serve as a basis for designing robots with other configurations.

The purpose of this study was to find the best robot configuration for climbing and descending stairs, in addition to traveling on flat surfaces. Candidate robot types were analyzed to find the most suitable one for further study, based on stability, size, and energy consumption. Based on these considerations, the non-variable configuration tracked robot type was selected. The basic robot parameters (minimum track size, comparison of tracks with grousers vs. tracks without grousers, track angle of attack) were determined using static analysis methods and using North American standards for the stair geometry. Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. The final design was then simulated in Matlab to profile the device's velocity, acceleration, and power consumption during the stair climbing and descending phases. A prototype robot was constructed. The results of this study show that a non-variable tracked robot can be constructed for the purpose of climbing stairs by applying static and dynamic analysis techniques to optimize a design. This study provides the groundwork for this design, which can also serve as a basis for designing robots with other configurations.

The purpose of this study was to examine the effects of body mass and sex on the joint biomechanics of the lower extremity during stair ascent and descent. Nineteen normal weight (8M and11F; BMI: 22.1 ± 1.8 kg/m2), 18 overweight (14M and 4F; BMI: 27.4 ± 1.3 kg/m2) and 8 obese subjects (3M and 5F; BMI: 33.3 ± 2.5 kg/m2) were recruited. Joint mechanical loading presented by joint moment of force and peak joint angles at the hip, knee, and ankle during stair climbing were recorded and analyzed using a motion analysis system with 10 cameras and 4 force plates. The MANOVA and linear regression analysis found a significantly larger knee extensor moment (p=0.026) among the overweight compared to the normal weight participants during descent. Sex differences were found in the peak joint angles, as the females abducted their knees more than the males (p=0.002; r(51) = 0.51) during descent.

The purpose of this study was to examine the effects of body mass and sex on the joint biomechanics of the lower extremity during stair ascent and descent. Nineteen normal weight (8M and11F; BMI: 22.1 ± 1.8 kg/m2), 18 overweight (14M and 4F; BMI: 27.4 ± 1.3 kg/m2) and 8 obese subjects (3M and 5F; BMI: 33.3 ± 2.5 kg/m2) were recruited. Joint mechanical loading presented by joint moment of force and peak joint angles at the hip, knee, and ankle during stair climbing were recorded and analyzed using a motion analysis system with 10 cameras and 4 force plates. The MANOVA and linear regression analysis found a significantly larger knee extensor moment (p=0.026) among the overweight compared to the normal weight participants during descent. Sex differences were found in the peak joint angles, as the females abducted their knees more than the males (p=0.002; r(51) = 0.51) during descent.

Self-balancing robots are unique mobile platforms that stay upright on two wheels using a closed-loop control system. They can turn on the spot using differential steering and have compact form factors that limit their required floor space. However they have major limitations keeping them from being used in real world applications: they cannot stand-up on their own, climb stairs, or overcome obstacles. They can fall easily if hit or going onto a slippery surface because they rely on friction for balancing. The first part of this research proposes a novel design to address the above mentioned issues related to stair-climbing, standing-up, and obstacles. A single revolute joint is added to the centre of a four-wheel drive robot onto which an arm is attached, allowing the robot to successfully climb stairs and stand-up on its own from a single motion. A model and simulation of the balancing and stair-climbing process are derived, and compared against experimental results with a custom robot prototype. The second part, a control system for an inverted pendulum equipped with a gyroscopic mechanism, was investigated for integration into self-balancing robots. It improves disturbance rejection during balance, and keeps equilibrium on slippery surfaces. The model of a gyroscope mounted onto an actuated gimbal was derived and simulated. To prove the concept worked, a custom-built platform showed it is possible for a balancing robot to stay upright with zero traction under the wheels.

Rising up from a chair (sit-to-stand; STS) and stair climbing are both activities of daily living (ADLs) done throughout our lives. The ability to complete ADLs is crucial for independent living. The goal of this thesis was to research how two ADLs interact with each other and affect postural control. It was hypothesized that an increased number of flights of stairs climbed would lead to a decline in postural control during/after a STS in older more than younger adults. Fourteen older adults and fourteen young adults were tested by completing three STSs before and after climbing 1, 3 and 5 flights of stairs, chosen at random. Movements of the center of pressure (COP) for each STS were obtained from a force platform. Only an age effect was found for COP velocity (left-right and anterior-posterior directions) during the momentum transfer phase, during stabilization and after stabilization. Therefore, contrary to our hypothesis, stair climbing did not lead to significant changes in COP movements during and following a STS.

Physical activity is important for the management and treatment of type 2 diabetes (T2D). Interval exercise training has been shown to improve glycemic control in people with T2D; however, studies have generally utilized high volume protocols and/or specialized equipment that limit translation to a “real world” setting. The present proof-of-concept study examined the efficacy of brief, intermittent stair climbing exercise to improve indices of glycemic control in adults with T2D, using continuous glucose monitoring (CGM) under controlled dietary conditions. Each session involved 3 x 60-s bouts of vigorously ascending and slowly descending a single flight of stairs. This was set within a 10-min period, which otherwise involved walking for a warm-up, cool-down and recovery in between bouts. Data are reported for n=5 participants (52 ± 18 y, BMI: 31 ± 5 kg/m2, HbA1c: 6.6 ± 0.7 %; mean ± SD) who performed 18 training sessions over 6 weeks. Mean 24-h glucose and time spent in hyperglycemia (> 10 mmol/L) were unchanged after an acute session of stair climbing (p=0.38 and p=0.42, respectively) or after 6 weeks of training (p=0.15 and p=0.47, respectively). Measures of glycemic variability were improved in the 24-h period following a single session of stair climbing, based on reductions in the mean amplitude of glycemic excursions (MAGE) (4.4 ± 1.5 vs. 3.5 ± 1.0 mmol/L, p =0.02) and the standard deviation (SD) around the mean (1.7 ± 0.5 vs. 1.4 ± 0.5 mmol/L, p=0.02). There was a meal-specific improvement in postprandial hyperglycemia after training, with the incremental area under the curve (iAUC) of the lunchtime meal reduced by 36 ± 42 % (p=0.01). These preliminary results demonstrate the feasibility of stair climbing as a physical activity option for people with T2D, although the acute and chronic effects of this training on indices of glycemic control remain equivocal. / Thesis / Master of Science in Kinesiology / Physical activity is important for the management of type 2 diabetes (T2D). Interval training, which involves alternating periods of relatively intense exercise and recovery, can improve blood sugar control in adults with T2D. This has largely been shown in laboratory settings using specialized equipment and protocols that may not be practical or time-efficient. This small, proof-of-concept study examined whether brief, intermittent stair climbing exercise could improve blood sugar control in people with T2D. Average blood sugar measured over 24 hours was unchanged after a single bout of stair climbing and after 18 sessions of training performed over 6 weeks. However, stair-climbing exercise reduced blood sugar fluctuations in response to specific meals. These preliminary findings suggest that interval stair climbing is a feasible exercise option for adults with T2D, but the precise effects on blood sugar control remain to be clarified.

This thesis presents a prototype of Unmanned Cooperative Fire-Seeking and -Fighting Robots (UCSFRs) which have a new way to climb up the stairs or traverse over obstacles with a ball screw. There are three unmanned vehicles (one Mother Vehicle (MV) and two Daughter Vehicles (DVs)) presented in this research. The MV can carry two DVs to climb stairs. They can communicate with each other using Bluetooth communication modules. The core system of the UCSFRs is a PIC 16F877 microcontroller on a 2840 development board. The software is written in C language and the interface is established through Hyper Terminal built in Windows XP. UCSFRs are low cost unmanned vehicles compared with other commercial ones. The double-deck structure is applied on the DVs. The body of the MV can be extended for special purposes. In this research, there are three tests used to verify the functionality of the UCSFRs: (1) MV?s finding and stopping fire, (2) Communication between the MV and the DVs, and (3) the MV?s climbing stairs. In the second test, the DVs run in the opposite direction to assist MV detect fire. By cooperative work, they can save time finding the fire. The MV will go to the hightemperature area according to the data sent by the DVs. Because of the features mentioned above, UCSFRs can be used to perform dangerous tasks instead of fire-fighters.