Vertical ground reaction forces at various speeds during stair climbing
LAN Jian1, Hyunjun Park1, FU Chenglong2, CHEN Ken1
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; 2. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
Abstract：The vertical ground reaction force determines the movement of the center of mass of the human body in the vertical direction during stair climbing. The vertical reaction force is closely related to the average vertical speed and the initial vertical speed. This paper presents a human stair climbing model that is used to derive the constraint for continuous climbing from the key factors influencing the maximum vertical force. The model gives mathematical expressions for the initial vertical speed, vertical force and the average horizontal speed. The model gives the change in the maximum vertical ground reaction force for various stair climbing speeds. Stair climbing tests were performed at various speeds using a motion analysis system and force platform. The tests verify the model accuracy with the results showing that the motion characteristics at low stair climbing speeds are closer to those of level walking than at high speeds and the initial vertical speed increases with increasing average horizontal speed to reduce the maximum vertical ground reaction force.
兰箭, 朴贤浚, 付成龙, 陈恳. 不同上楼速度下的垂直地面反力[J]. 清华大学学报（自然科学版）, 2019, 59(6): 453-460.
LAN Jian, Hyunjun Park, FU Chenglong, CHEN Ken. Vertical ground reaction forces at various speeds during stair climbing. Journal of Tsinghua University(Science and Technology), 2019, 59(6): 453-460.
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2019, Vol. 59 
