Biologically Inspired Stair-Climbing Mechanism with Enhanced Safety and Comfort

Abstract The sense of being independent is crucially important for those who endure mobility impairments. One of the most challenging tasks for them is moving up and down the staircases independently, which is a serious challenge at present. This paper proposes a novel track-based stair-climbing mechanism inspired by the motion of a leech, enhancing adaptability to staircases. The mechanism mimics leech-like motion to adapt to the staircase profile during both ascent and descent. The stair ascent and descent motions are resolved into a number of segments to ensure safe posture in each. Throughout the motion, the mechanism maintains a larger contact surface with the staircase to ensure safety. Simulation and experimental studies validate the effectiveness of the motion, especially at the top and the bottom of the staircase. The experimental results show that the motion profile damps sudden movements and improves comfort during stair-climbing.