Biomechanics of Walking Up Stairs

  • Aurelio Cappozzo
  • Tommaso Leo
Part of the International Centre for Mechanical Sciences book series (CISM, volume 201)


Some results concerning the kinematics and dynamics of walking up stairs are presented. In particular the kinematics variables are analysed by a Fourier series expansion, and the muschular moments at the lower limbs articulations are computed according to a mechanical model of the system: some energetical considerations are also included.

The results are presented in order to be used in synthesis studies and design of humanlike walking machines. The experimental and analytical method applied is a general one for the study of repetitive locomotory acts.


Stance Phase Swing Phase Human Locomotion Extensorial Torque Energetical Consideration 
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Copyright information

© Springer-Verlag Wien 1974

Authors and Affiliations

  • Aurelio Cappozzo
    • 1
  • Tommaso Leo
    • 2
  1. 1.Istituto di Fisiologia Umana, I Cattedra di Fisiologia UmanaUniversità di RomaRoma
  2. 2.Centro di Studio dei Sistemi di Controllo e Calcolo Automatici Istituto di Automatica dell’Università di RomaC.N.R.Roma

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