Stair-Climbing Auxiliary Device With Self-Adaption

With the aging of the population becoming more and more serious, it is necessary to design a device to reduce the risk of low-back injury during stair-climbing process. Most of the existing devices maybe inferior in case the application scenario lacks space, so a more compact and user-friendly device is needed. A power-assisting device is introduced to support elder people lacking in physical strength during stair-climbing process. This study presents a new device suitable for daily application. Firstly, the structure of the device is presented and tested in simulation environment. Then, an adaptive controlling algorithm is developed to keep the output in accordance with motion pattern of the user. Finally, the robustness of the algorithm is verified through simulation.