Biomechanics of Walking Up Stairs
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.
KeywordsStance Phase Swing Phase Human Locomotion Extensorial Torque Energetical Consideration
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